Removed old Testable base class

gtsam/base/FastSet.h

@@ -18,8 +18,6 @@
 
 #pragma once
 
-#include <gtsam/base/Testable.h>
-
 #include <set>
 #include <iostream>
 #include <string>
@@ -45,8 +43,7 @@ struct FastSetTestableHelper;
  * @ingroup base
  */
 template<typename VALUE, class ENABLE = void>
-class FastSet: public std::set<VALUE, std::less<VALUE>, boost::fast_pool_allocator<VALUE> >,
-public Testable<FastSet<VALUE> > {
+class FastSet: public std::set<VALUE, std::less<VALUE>, boost::fast_pool_allocator<VALUE> > {
 
 public:
 

gtsam/base/FixedVector.h

@@ -17,7 +17,6 @@
 
 #pragma once
 
-#include <gtsam/base/Testable.h>
 #include <stdarg.h>
 #include <gtsam/base/Vector.h>
 
@@ -28,8 +27,7 @@ namespace gtsam {
  * size checking.
  */
 template<size_t N>
-class FixedVector : public Eigen::Matrix<double, N, 1>,
-					public Testable<FixedVector<N> > {
+class FixedVector : public Eigen::Matrix<double, N, 1> {
 public:
 	typedef Eigen::Matrix<double, N, 1> Base;
 

gtsam/base/Testable.h

@@ -11,7 +11,7 @@
 
 /**
  * @file    Testable.h
- * @brief   Abstract base class for values that can be used in unit tests
+ * @brief   Concept check for values that can be used in unit tests
  * @author  Frank Dellaert
  * 
  * The necessary functions to implement for Testable are defined
@@ -40,35 +40,13 @@
 
 namespace gtsam {
 
-  /**
-   * The Testable class should be templated with the derived class, e.g.
-   * class Rot3 : public Testable<Rot3>. This allows us to define the
-   * input type of equals as a Rot3 as well.
-	 * @ingroup base
-   */
-	template <class Derived>
-	class Testable {
-
-	private:
-		/**
-		 * This concept check is to make sure these methods exist in derived classes
-		 * This is as an alternative to declaring those methods virtual, which is slower
-		 */
-	  static void concept(const Derived& d) {
-	    const Derived *const_derived = static_cast<Derived*>(&d);
-	    const_derived->print(std::string());
-	    const_derived->print();
-	    bool r;
-	    r = const_derived->equals(*const_derived, 1.0);
-	    r = const_derived->equals(*const_derived);
-	  }
-
-	}; // Testable class
-
 	/**
-	 * A testable concept check to be placed in unit tests, rather than subclassing
+	 * A testable concept check that should be placed in applicable unit
+	 * tests and in generic algorithms.
+	 *
 	 * See macros for details on using this structure
 	 * @ingroup base
+	 * @tparam T is the type this constrains to be testable - assumes print() and equals()
 	 */
 	template <class T>
 	class TestableConcept {
@@ -83,7 +61,7 @@ namespace gtsam {
 	    bool r2 = d.equals(d);
 	    return r1 && r2;
 	  }
-	}; // Testable class
+	};
 
 	/**
 	 * This template works for any type with equals
@@ -133,5 +111,6 @@ namespace gtsam {
  * NOTE: intentionally not in the gtsam namespace to allow for classes not in
  * the gtsam namespace to be more easily enforced as testable
  */
+/// TODO: find better name for "INST" macro, something like "UNIT" or similar
 #define GTSAM_CONCEPT_TESTABLE_INST(T) template class gtsam::TestableConcept<T>;
 #define GTSAM_CONCEPT_TESTABLE_TYPE(T) typedef gtsam::TestableConcept<T> _gtsam_TestableConcept_##T;

gtsam/geometry/Point3.h

@@ -24,7 +24,6 @@
 #include <boost/serialization/nvp.hpp>
 
 #include <gtsam/base/Matrix.h>
-#include <gtsam/base/Testable.h>
 #include <gtsam/base/Lie.h>
 
 namespace gtsam {
@@ -33,7 +32,7 @@ namespace gtsam {
    * A 3D point
    * @ingroup geometry
    */
-  class Point3: Testable<Point3>, public Lie<Point3> {
+  class Point3 {
   public:
 	  /// dimension of the variable - used to autodetect sizes
 	  static const size_t dimension = 3;

gtsam/geometry/Pose3.h

@@ -27,7 +27,7 @@ namespace gtsam {
    * A 3D pose (R,t) : (Rot3,Point3)
    * @ingroup geometry
    */
-  class Pose3 : Testable<Pose3>, public Lie<Pose3> {
+  class Pose3 : public Lie<Pose3> {
   public:
 	  static const size_t dimension = 6;
 

gtsam/geometry/Rot3.h

@@ -32,7 +32,7 @@ typedef Eigen::Quaterniond Quaternion;
    * @brief 3D Rotations represented as rotation matrices
    * @ingroup geometry
    */
-  class Rot3: Testable<Rot3>, public Lie<Rot3> {
+  class Rot3: public Lie<Rot3> {
   public:
 	  static const size_t dimension = 3;
 

gtsam/geometry/tests/testCalibratedCamera.cpp

@@ -18,6 +18,7 @@
 #include <iostream>
 
 #include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/CalibratedCamera.h>
 

gtsam/geometry/tests/testPoint3.cpp

@@ -15,6 +15,7 @@
  */   
 
 #include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/Testable.h>
 #include <gtsam/geometry/Point3.h>
 
 using namespace gtsam;

gtsam/geometry/tests/testPose3.cpp

@@ -16,6 +16,7 @@
 
 #include <cmath>
 #include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/base/lieProxies.h>
 #include <gtsam/geometry/Pose3.h>

gtsam/geometry/tests/testRot3.cpp

@@ -16,6 +16,7 @@
  */
 
 #include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/Testable.h>
 #include <boost/math/constants/constants.hpp>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/base/lieProxies.h>

gtsam/geometry/tests/testSimpleCamera.cpp

@@ -19,6 +19,7 @@
 #include <iostream>
 
 #include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/SimpleCamera.h>
 

gtsam/geometry/tests/testStereoCamera.cpp

@@ -17,6 +17,7 @@
  */
 
 #include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/geometry/StereoCamera.h>
 

gtsam/inference/BayesNet-inl.h

@@ -17,6 +17,7 @@
 
 #pragma once
 
+#include <gtsam/base/Testable.h>
 #include <gtsam/inference/BayesNet.h>
 
 #include <iostream>

gtsam/inference/BayesNet.h

@@ -26,7 +26,6 @@
 
 #include <gtsam/base/types.h>
 #include <gtsam/base/FastList.h>
-#include <gtsam/base/Testable.h>
 #include <gtsam/inference/Permutation.h>
 
 namespace gtsam {
@@ -41,7 +40,7 @@ namespace gtsam {
  * todo:  how to handle Bayes nets with an optimize function?  Currently using global functions.
  */
 template<class CONDITIONAL>
-class BayesNet: public Testable<BayesNet<CONDITIONAL> > {
+class BayesNet {
 
 public:
 

gtsam/inference/BayesTree.h

@@ -37,7 +37,7 @@ namespace gtsam {
 	 * \ingroup Multifrontal
 	 */
 	template<class CONDITIONAL>
-	class BayesTree: public Testable<BayesTree<CONDITIONAL> > {
+	class BayesTree {
 
 	public:
 
@@ -147,7 +147,7 @@ namespace gtsam {
 		typedef boost::shared_ptr<Clique> sharedClique;
 
 		// A convenience class for a list of shared cliques
-		struct Cliques : public std::list<sharedClique>, public Testable<Cliques> {
+		struct Cliques : public std::list<sharedClique> {
 			void print(const std::string& s = "Cliques") const;
 			bool equals(const Cliques& other, double tol = 1e-9) const;
 		};

gtsam/inference/ClusterTree.h

@@ -26,7 +26,6 @@
 #include <boost/weak_ptr.hpp>
 
 #include <gtsam/base/types.h>
-#include <gtsam/base/Testable.h>
 
 namespace gtsam {
 
@@ -36,7 +35,7 @@ namespace gtsam {
 	 * each factor f_i is associated with a single cluster and scope(f_i) \sub C_k.
 	 */
 	template <class FG>
-	class ClusterTree : public Testable<ClusterTree<FG> > {
+	class ClusterTree {
 
 	protected:
 

gtsam/inference/EliminationTree.h

@@ -34,7 +34,7 @@ namespace gtsam {
  * additionally identifies cliques in the chordal Bayes net.
  */
 template<class FACTOR>
-class EliminationTree: public Testable<EliminationTree<FACTOR> > {
+class EliminationTree {
 
 public:
 

gtsam/inference/Factor.h

@@ -25,7 +25,6 @@
 #include <vector>
 #include <boost/serialization/nvp.hpp>
 #include <boost/foreach.hpp>
-#include <gtsam/base/Testable.h>
 #include <gtsam/base/FastMap.h>
 
 namespace gtsam {
@@ -51,7 +50,7 @@ template<class KEY> class Conditional;
  * during symbolic elimination.  GaussianFactor and NonlinearFactor are virtual.
  */
 template<typename KEY>
-class Factor : public Testable<Factor<KEY> > {
+class Factor {
 
 public:
 

gtsam/inference/FactorGraph-inl.h

@@ -22,6 +22,7 @@
 
 #pragma once
 
+#include <stdio.h>
 #include <list>
 #include <sstream>
 #include <stdexcept>

gtsam/inference/FactorGraph.h

@@ -38,7 +38,7 @@ namespace gtsam {
 	 * Templated on the type of factors and values structure.
 	 */
 	template<class FACTOR>
-	class FactorGraph: public Testable<FactorGraph<FACTOR> > {
+	class FactorGraph {
 	public:
 	  typedef FACTOR FactorType;
 	  typedef boost::shared_ptr<FactorGraph<FACTOR> > shared_ptr;

gtsam/inference/GenericSequentialSolver.h

@@ -38,8 +38,7 @@ namespace gtsam {
 	 * Additionally, the first step of MFQR is symbolic sequential elimination.
 	 */
 	template<class FACTOR>
-	class GenericSequentialSolver: public Testable<
-			GenericSequentialSolver<FACTOR> > {
+	class GenericSequentialSolver {
 
 	protected:
 

gtsam/inference/VariableSlots.h

@@ -19,7 +19,6 @@
 #pragma once
 
 #include <gtsam/base/types.h>
-#include <gtsam/base/Testable.h>
 #include <gtsam/base/FastMap.h>
 
 #include <iostream>
@@ -55,7 +54,7 @@ namespace gtsam {
  * is not performed by this class.
  */
 
-class VariableSlots : public FastMap<Index, std::vector<Index> >, public Testable<VariableSlots> {
+class VariableSlots : public FastMap<Index, std::vector<Index> > {
 
 public:
 

gtsam/inference/tests/testBayesTree.cpp

@@ -36,7 +36,8 @@ typedef BayesTree<IndexConditional> SymbolicBayesTree;
 
 ///* ************************************************************************* */
 //// SLAM example from RSS sqrtSAM paper
-static const Index _x3_=0, _x2_=1, _x1_=2, _l2_=3, _l1_=4;
+static const Index _x3_=0, _x2_=1;
+//static const Index _x1_=2, _l2_=3, _l1_=4; // unused
 //IndexConditional::shared_ptr
 //		x3(new IndexConditional(_x3_)),
 //		x2(new IndexConditional(_x2_,_x3_)),

gtsam/inference/tests/testSymbolicBayesNet.cpp

@@ -21,6 +21,7 @@ using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
 
+#include <gtsam/base/Testable.h>
 #include <gtsam/inference/IndexConditional.h>
 #include <gtsam/inference/SymbolicFactorGraph.h>
 

gtsam/linear/Errors.h

@@ -24,7 +24,7 @@
 namespace gtsam {
 	
   /** vector of errors */
-  class Errors : public std::list<Vector>, public Testable<Errors> {
+  class Errors : public std::list<Vector> {
 
   public:
 

gtsam/linear/GaussianConditional.h

@@ -22,10 +22,10 @@
 #include <boost/utility.hpp>
 
 #include <gtsam/base/types.h>
+#include <gtsam/base/blockMatrices.h>
 #include <gtsam/inference/IndexConditional.h>
 #include <gtsam/linear/JacobianFactor.h>
 #include <gtsam/linear/VectorValues.h>
-#include <gtsam/base/blockMatrices.h>
 
 // Forward declaration to friend unit tests
 class eliminate2JacobianFactorTest;

gtsam/linear/GaussianFactorGraph.cpp

@@ -18,14 +18,14 @@
  * @author  Frank Dellaert
  */
 
+#include <gtsam/base/Testable.h>
+#include <gtsam/base/debug.h>
+#include <gtsam/base/timing.h>
+#include <gtsam/base/cholesky.h>
 #include <gtsam/linear/HessianFactor.h>
 #include <gtsam/linear/GaussianFactorGraph.h>
 #include <gtsam/inference/VariableSlots.h>
 #include <gtsam/inference/FactorGraph-inl.h>
-#include <gtsam/base/debug.h>
-#include <gtsam/base/timing.h>
-#include <gtsam/base/cholesky.h>
-
 
 using namespace std;
 using namespace gtsam;

gtsam/linear/NoiseModel.h

@@ -19,7 +19,6 @@
 #pragma once
 
 #include <boost/serialization/nvp.hpp>
-#include <gtsam/base/Testable.h>
 #include <gtsam/base/Matrix.h>
 
 namespace gtsam {
@@ -43,7 +42,7 @@ namespace gtsam {
 		 * Noise models must implement a 'whiten' function to normalize an error vector,
 		 * and an 'unwhiten' function to unnormalize an error vector.
 		 */
-		class Base : public Testable<Base> {
+		class Base {
 
 		public:
       typedef boost::shared_ptr<Base> shared_ptr;

gtsam/linear/VectorValues.h

@@ -17,7 +17,6 @@
 
 #pragma once
 
-#include <gtsam/base/Testable.h>
 #include <gtsam/base/Vector.h>
 #include <gtsam/base/types.h>
 
@@ -38,7 +37,7 @@ namespace gtsam {
 	 * Access is through the variable index j, and returns a SubVector,
 	 * which is a view on the underlying data structure.
 	 */
-	class VectorValues: public Testable<VectorValues> {
+	class VectorValues {
 	protected:
 		Vector values_;
 		std::vector<size_t> varStarts_; // start at 0 with size nVars + 1

gtsam/linear/tests/testErrors.cpp

@@ -19,6 +19,7 @@
 using namespace boost::assign;
 
 #include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/Testable.h>
 #include <gtsam/linear/Errors.h>
 
 using namespace std;

gtsam/linear/tests/testGaussianFactorGraph.cpp

@@ -31,7 +31,9 @@ using namespace std;
 using namespace gtsam;
 using namespace boost;
 
+#ifdef BROKEN
 static const Index _x0_=0, _x1_=1, _x2_=2, _x3_=3, _x4_=4, _x_=5, _y_=6, _l1_=7, _l11_=8;
+#endif
 
 static SharedDiagonal
 	sigma0_1 = sharedSigma(2,0.1), sigma_02 = sharedSigma(2,0.2),

gtsam/linear/tests/testNoiseModel.cpp

@@ -41,10 +41,10 @@ static Matrix Sigma = Matrix_(3, 3,
 		var, 0.0, 0.0,
 		0.0, var, 0.0,
 		0.0, 0.0, var);
-static Matrix Q = Matrix_(3, 3,
-		prc, 0.0, 0.0,
-		0.0, prc, 0.0,
-		0.0, 0.0, prc);
+//static Matrix Q = Matrix_(3, 3,
+//		prc, 0.0, 0.0,
+//		0.0, prc, 0.0,
+//		0.0, 0.0, prc);
 
 static double inf = std::numeric_limits<double>::infinity();
 

gtsam/linear/tests/testVectorValues.cpp

@@ -18,6 +18,7 @@
 
 #include <boost/assign/std/vector.hpp>
 
+#include <gtsam/base/Testable.h>
 #include <gtsam/linear/VectorValues.h>
 #include <gtsam/inference/Permutation.h>
 

gtsam/nonlinear/ISAM2.h

@@ -22,12 +22,9 @@
 #include <map>
 #include <list>
 #include <vector>
-//#include <boost/serialization/map.hpp>
-//#include <boost/serialization/list.hpp>
 #include <stdexcept>
 
 #include <gtsam/base/types.h>
-#include <gtsam/base/Testable.h>
 #include <gtsam/base/FastSet.h>
 #include <gtsam/base/FastList.h>
 #include <gtsam/inference/FactorGraph.h>

gtsam/nonlinear/Key.h

@@ -27,8 +27,6 @@
 #include <boost/lexical_cast.hpp>
 #endif
 
-#include <gtsam/base/Testable.h>
-
 #define ALPHA '\224'
 
 namespace gtsam {
@@ -39,7 +37,7 @@ namespace gtsam {
  * 2) the character constant used for its string representation
  */
 template<class T, char C>
-class TypedSymbol: Testable<TypedSymbol<T, C> > {
+class TypedSymbol {
 
 protected:
   size_t j_;
@@ -59,6 +57,8 @@ public:
     j_(j) {
   }
 
+  virtual ~TypedSymbol() {}
+
   // Get stuff:
 
   size_t index() const {
@@ -120,7 +120,7 @@ class TypedLabeledSymbol;
  * keys when linearizing a nonlinear factor graph.  This key is not type
  * safe, so cannot be used with any Nonlinear* classes.
  */
-class Symbol: Testable<Symbol> {
+class Symbol {
 protected:
   unsigned char c_;
   size_t j_;
@@ -251,8 +251,7 @@ template<class KEY> std::list<Symbol> keys2symbols(std::list<KEY> keys) {
  * index
  */
 template<class T, char C, typename L>
-class TypedLabeledSymbol: public TypedSymbol<T, C> , Testable<
-    TypedLabeledSymbol<T, C, L> > {
+class TypedLabeledSymbol: public TypedSymbol<T, C> {
 
 protected:
   // Label

gtsam/nonlinear/LieValues.h

@@ -28,7 +28,6 @@
 
 #include <gtsam/base/FastMap.h>
 #include <gtsam/base/Vector.h>
-#include <gtsam/base/Testable.h>
 #include <gtsam/nonlinear/Ordering.h>
 
 namespace boost { template<class T> class optional; }
@@ -47,7 +46,7 @@ namespace gtsam {
 	 *  labels (example: Pose2, Point2, etc)
 	 */
   template<class J>
-  class LieValues : public Testable<LieValues<J> > {
+  class LieValues {
 
   public:
 

gtsam/nonlinear/Ordering.h

@@ -19,7 +19,6 @@
 #pragma once
 
 #include <map>
-#include <gtsam/base/Testable.h>
 #include <gtsam/nonlinear/Key.h>
 #include <gtsam/inference/inference.h>
 
@@ -32,7 +31,7 @@ namespace gtsam {
 /**
  * An ordering is a map from symbols (non-typed keys) to integer indices
  */
-class Ordering : Testable<Ordering> {
+class Ordering {
 protected:
   typedef boost::fast_pool_allocator<std::pair<const Symbol, Index> > Allocator;
   typedef std::map<Symbol, Index, std::less<Symbol>, Allocator> Map;
@@ -204,7 +203,7 @@ private:
  * @class Unordered
  * @brief a set of unordered indices
  */
-class Unordered: public std::set<Index>, public Testable<Unordered> {
+class Unordered: public std::set<Index> {
 public:
   /** Default constructor creates empty ordering */
   Unordered() { }

gtsam/nonlinear/TupleValues.h

@@ -47,7 +47,7 @@ namespace gtsam {
    *  operates on the "first" values. TupleValuesEnd contains only the specialized version.
    */
   template<class VALUES1, class VALUES2>
-  class TupleValues : public Testable<TupleValues<VALUES1, VALUES2> > {
+  class TupleValues {
 
   protected:
 	  // Data for internal valuess
@@ -254,7 +254,7 @@ namespace gtsam {
    * of a recursive structure
    */
   template<class VALUES>
-  class TupleValuesEnd : public Testable<TupleValuesEnd<VALUES> > {
+  class TupleValuesEnd {
 
   protected:
 	  // Data for internal valuess

gtsam/nonlinear/tests/testLieValues.cpp

@@ -20,8 +20,9 @@
 #include <boost/assign/std/list.hpp> // for operator +=
 using namespace boost::assign;
 
-#include <gtsam/nonlinear/LieValues-inl.h>
+#include <gtsam/base/Testable.h>
 #include <gtsam/base/LieVector.h>
+#include <gtsam/nonlinear/LieValues-inl.h>
 
 using namespace gtsam;
 using namespace std;

gtsam/slam/tests/testGeneralSFMFactor.cpp

@@ -15,6 +15,7 @@ using namespace boost;
 // Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
 #define GTSAM_MAGIC_KEY
 
+#include <gtsam/base/Testable.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
 #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
 #include <gtsam/inference/graph-inl.h>

gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp

@@ -15,6 +15,7 @@ using namespace boost;
 // Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
 #define GTSAM_MAGIC_KEY
 
+#include <gtsam/base/Testable.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
 #include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
 #include <gtsam/inference/graph-inl.h>

gtsam/slam/tests/testPose2SLAM.cpp

@@ -40,7 +40,8 @@ static noiseModel::Gaussian::shared_ptr covariance(
 	sx*sx, 0.0, 0.0,
 	0.0, sy*sy, 0.0,
 	0.0, 0.0, st*st
-	))), I3(noiseModel::Unit::Create(3));
+	)));
+//static noiseModel::Gaussian::shared_ptr I3(noiseModel::Unit::Create(3));
 
 /* ************************************************************************* */
 TEST( Pose2Graph, constructor )

gtsam/slam/tests/testSimulated2D.cpp

@@ -19,6 +19,7 @@
 #include <iostream>
 #include <CppUnitLite/TestHarness.h>
 
+#include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/slam/simulated2D.h>
 

gtsam/slam/tests/testSimulated2DOriented.cpp

@@ -19,6 +19,7 @@
 #include <iostream>
 #include <CppUnitLite/TestHarness.h>
 
+#include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/slam/simulated2D.h>
 #include <gtsam/slam/simulated2DOriented.h>

gtsam/slam/tests/testSimulated3D.cpp

@@ -18,8 +18,9 @@
 #include <iostream>
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam/geometry/Pose3.h>
+#include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
+#include <gtsam/geometry/Pose3.h>
 #include <gtsam/slam/Simulated3D.h>
 
 using namespace gtsam;

tests/testGaussianBayesNet.cpp

@@ -28,8 +28,9 @@ using namespace boost::assign;
 // Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
 #define GTSAM_MAGIC_KEY
 
-#include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/base/Testable.h>
 #include <gtsam/inference/BayesNet.h>
+#include <gtsam/linear/GaussianBayesNet.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
 #include <gtsam/slam/smallExample.h>
 

tests/testGaussianFactor.cpp

@@ -30,6 +30,7 @@ using namespace boost::assign;
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Matrix.h>
+#include <gtsam/base/Testable.h>
 #include <gtsam/linear/GaussianConditional.h>
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/nonlinear/Ordering.h>

tests/testGaussianFactorGraph.cpp

@@ -32,11 +32,12 @@ using namespace boost::assign;
 #define GTSAM_MAGIC_KEY
 
 #include <gtsam/base/Matrix.h>
-#include <gtsam/slam/smallExample.h>
-#include <gtsam/linear/GaussianBayesNet.h>
+#include <gtsam/base/Testable.h>
 #include <gtsam/base/numericalDerivative.h>
 #include <gtsam/inference/SymbolicFactorGraph.h>
+#include <gtsam/linear/GaussianBayesNet.h>
 #include <gtsam/linear/GaussianSequentialSolver.h>
+#include <gtsam/slam/smallExample.h>
 
 using namespace gtsam;
 using namespace example;

tests/testNonlinearFactor.cpp

@@ -28,6 +28,7 @@
 // Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
 #define GTSAM_MAGIC_KEY
 
+#include <gtsam/base/Testable.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/slam/simulated2D.h>

tests/testNonlinearFactorGraph.cpp

@@ -30,6 +30,7 @@ using namespace boost::assign;
 // Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
 #define GTSAM_MAGIC_KEY
 
+#include <gtsam/base/Testable.h>
 #include <gtsam/base/Matrix.h>
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/inference/FactorGraph-inl.h>

tests/testSymbolicBayesNet.cpp

@@ -24,6 +24,7 @@ using namespace boost::assign;
 // Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
 #define GTSAM_MAGIC_KEY
 
+#include <gtsam/base/Testable.h>
 #include <gtsam/slam/smallExample.h>
 #include <gtsam/inference/SymbolicFactorGraph.h>
 #include <gtsam/inference/SymbolicSequentialSolver.h>