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Put in test

release/4.3a0
dellaert 2014-02-14 13:39:07 -05:00
parent a2829fffad
commit 38d8de1537
1 changed files with 16 additions and 2 deletions
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18
gtsam/linear/tests/testGaussianFactorGraphUnordered.cpp
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@ -112,10 +112,14 @@ TEST(GaussianFactorGraph, matrices) {
// 9 10 0 11 12 13 // 9 10 0 11 12 13
// 0 0 0 14 15 16 // 0 0 0 14 15 16
Matrix A00 = (Matrix(2, 3) << 1, 2, 3, 5, 6, 7);
Matrix A10 = (Matrix(2, 3) << 9, 10, 0, 0, 0, 0);
Matrix A11 = (Matrix(2, 2) << 11, 12, 14, 15);
GaussianFactorGraph gfg; GaussianFactorGraph gfg;
SharedDiagonal model = noiseModel::Unit::Create(2); SharedDiagonal model = noiseModel::Unit::Create(2);
gfg.add(0, (Matrix(2, 3) << 1., 2., 3., 5., 6., 7.), (Vector(2) << 4., 8.), model); gfg.add(0, A00, (Vector(2) << 4., 8.), model);
gfg.add(0, (Matrix(2, 3) << 9.,10., 0., 0., 0., 0.), 1, (Matrix(2, 2) << 11., 12., 14., 15.), (Vector(2) << 13.,16.), model); gfg.add(0, A10, 1, A11, (Vector(2) << 13.,16.), model);
Matrix Ab(4,6); Matrix Ab(4,6);
Ab << Ab <<
@ -124,25 +128,35 @@ TEST(GaussianFactorGraph, matrices) {
9,10, 0,11,12,13, 9,10, 0,11,12,13,
0, 0, 0,14,15,16; 0, 0, 0,14,15,16;
// augmented versions
EXPECT(assert_equal(Ab, gfg.augmentedJacobian())); EXPECT(assert_equal(Ab, gfg.augmentedJacobian()));
EXPECT(assert_equal(Ab.transpose() * Ab, gfg.augmentedHessian())); EXPECT(assert_equal(Ab.transpose() * Ab, gfg.augmentedHessian()));
// jacobian
Matrix A = Ab.leftCols(Ab.cols()-1); Matrix A = Ab.leftCols(Ab.cols()-1);
Vector b = Ab.col(Ab.cols()-1); Vector b = Ab.col(Ab.cols()-1);
Matrix actualA; Vector actualb; boost::tie(actualA,actualb) = gfg.jacobian(); Matrix actualA; Vector actualb; boost::tie(actualA,actualb) = gfg.jacobian();
EXPECT(assert_equal(A, actualA)); EXPECT(assert_equal(A, actualA));
EXPECT(assert_equal(b, actualb)); EXPECT(assert_equal(b, actualb));
// hessian
Matrix L = A.transpose() * A; Matrix L = A.transpose() * A;
Vector eta = A.transpose() * b; Vector eta = A.transpose() * b;
Matrix actualL; Vector actualeta; boost::tie(actualL,actualeta) = gfg.hessian(); Matrix actualL; Vector actualeta; boost::tie(actualL,actualeta) = gfg.hessian();
EXPECT(assert_equal(L, actualL)); EXPECT(assert_equal(L, actualL));
EXPECT(assert_equal(eta, actualeta)); EXPECT(assert_equal(eta, actualeta));
// hessianBlockDiagonal
VectorValues expectLdiagonal; // Make explicit that diagonal is sum-squares of columns VectorValues expectLdiagonal; // Make explicit that diagonal is sum-squares of columns
expectLdiagonal.insert(0, (Vector(3) << 1+25+81, 4+36+100, 9+49)); expectLdiagonal.insert(0, (Vector(3) << 1+25+81, 4+36+100, 9+49));
expectLdiagonal.insert(1, (Vector(2) << 121+196, 144+225)); expectLdiagonal.insert(1, (Vector(2) << 121+196, 144+225));
EXPECT(assert_equal(expectLdiagonal, gfg.hessianDiagonal())); EXPECT(assert_equal(expectLdiagonal, gfg.hessianDiagonal()));
// hessianBlockDiagonal
map<Key,Matrix> actualBD = gfg.hessianBlockDiagonal();
LONGS_EQUAL(2,actualBD.size());
EXPECT(assert_equal(A00.transpose()*A00 + A10.transpose()*A10,actualBD[0]));
EXPECT(assert_equal(A11.transpose()*A11,actualBD[1]));
} }
/* ************************************************************************* */ /* ************************************************************************* */