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add test on robust loss functions to behave like quadratic

release/4.3a0
yetongumich 2020-04-02 11:03:05 -04:00
parent 201539680f
commit 3b183e2da0
1 changed files with 30 additions and 0 deletions
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30
gtsam/linear/tests/testNoiseModel.cpp
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@ -681,6 +681,36 @@ TEST(NoiseModel, robustNoiseL2WithDeadZone)
}
TEST(NoiseModel, lossFunctionAtZero)
{
const double k = 5.0;
auto fair = mEstimator::Fair::Create(k);
DOUBLES_EQUAL(fair->loss(0), 0, 1e-8);
DOUBLES_EQUAL(fair->weight(0), 1, 1e-8);
auto huber = mEstimator::Huber::Create(k);
DOUBLES_EQUAL(huber->loss(0), 0, 1e-8);
DOUBLES_EQUAL(huber->weight(0), 1, 1e-8);
auto cauchy = mEstimator::Cauchy::Create(k);
DOUBLES_EQUAL(cauchy->loss(0), 0, 1e-8);
DOUBLES_EQUAL(cauchy->weight(0), 1, 1e-8);
auto gmc = mEstimator::GemanMcClure::Create(k);
DOUBLES_EQUAL(gmc->loss(0), 0, 1e-8);
DOUBLES_EQUAL(gmc->weight(0), 1, 1e-8);
auto welsch = mEstimator::Welsch::Create(k);
DOUBLES_EQUAL(welsch->loss(0), 0, 1e-8);
DOUBLES_EQUAL(welsch->weight(0), 1, 1e-8);
auto tukey = mEstimator::Tukey::Create(k);
DOUBLES_EQUAL(tukey->loss(0), 0, 1e-8);
DOUBLES_EQUAL(tukey->weight(0), 1, 1e-8);
auto dcs = mEstimator::DCS::Create(k);
DOUBLES_EQUAL(dcs->loss(0), 0, 1e-8);
DOUBLES_EQUAL(dcs->weight(0), 1, 1e-8);
// auto lsdz = mEstimator::L2WithDeadZone::Create(k);
// DOUBLES_EQUAL(lsdz->loss(0), 0, 1e-8);
// DOUBLES_EQUAL(lsdz->weight(0), 1, 1e-8);
}
/* ************************************************************************* */
#define TEST_GAUSSIAN(gaussian)\
EQUALITY(info, gaussian->information());\