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Cleaned up tests, testing size() as well.

release/4.3a0
Frank Dellaert 2019-04-03 23:42:36 -04:00
parent efefe2d31a
commit 3e10adb178
1 changed files with 33 additions and 42 deletions
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75
gtsam/symbolic/tests/testVariableIndex.cpp
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@ -11,60 +11,66 @@
/**
* @file testVariableIndex.cpp
* @brief
* @brief Unit tests for VariableIndex class
* @author Richard Roberts
* @date Sep 26, 2010
* @date Sep 26, 2010
*/
#include <gtsam/inference/VariableIndex.h>
#include <gtsam/symbolic/SymbolicFactorGraph.h>
#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign/std/list.hpp>
#include <boost/assign/list_of.hpp>
using namespace boost::assign;
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/inference/VariableIndex.h>
#include <gtsam/symbolic/SymbolicFactorGraph.h>
using namespace std;
using namespace gtsam;
/* ************************************************************************* */
TEST(VariableIndex, augment) {
// 2 small symbolic graphs shared by all tests
SymbolicFactorGraph fg1, fg2;
SymbolicFactorGraph testGraph1() {
SymbolicFactorGraph fg1;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
return fg1;
}
SymbolicFactorGraph testGraph2() {
SymbolicFactorGraph fg2;
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
return fg2;
}
SymbolicFactorGraph fgCombined; fgCombined.push_back(fg1); fgCombined.push_back(fg2);
/* ************************************************************************* */
TEST(VariableIndex, augment) {
auto fg1 = testGraph1(), fg2 = testGraph2();
SymbolicFactorGraph fgCombined;
fgCombined.push_back(fg1);
fgCombined.push_back(fg2);
VariableIndex expected(fgCombined);
VariableIndex actual(fg1);
actual.augment(fg2);
LONGS_EQUAL(16, (long)actual.nEntries());
LONGS_EQUAL(8, (long)actual.nFactors());
LONGS_EQUAL(8, actual.size());
LONGS_EQUAL(16, actual.nEntries());
LONGS_EQUAL(8, actual.nFactors());
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST(VariableIndex, augment2) {
SymbolicFactorGraph fg1, fg2;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
auto fg1 = testGraph1(), fg2 = testGraph2();
SymbolicFactorGraph fgCombined;
fgCombined.push_back(fg1);
@ -77,23 +83,16 @@ TEST(VariableIndex, augment2) {
VariableIndex actual(fg1);
actual.augment(fg2, newIndices);
LONGS_EQUAL(16, (long) actual.nEntries());
LONGS_EQUAL(9, (long) actual.nFactors());
LONGS_EQUAL(8, actual.size());
LONGS_EQUAL(16, actual.nEntries());
LONGS_EQUAL(9, actual.nFactors());
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST(VariableIndex, remove) {
SymbolicFactorGraph fg1, fg2;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
auto fg1 = testGraph1(), fg2 = testGraph2();
SymbolicFactorGraph fgCombined; fgCombined.push_back(fg1); fgCombined.push_back(fg2);
@ -118,15 +117,7 @@ TEST(VariableIndex, remove) {
/* ************************************************************************* */
TEST(VariableIndex, deep_copy) {
SymbolicFactorGraph fg1, fg2;
fg1.push_factor(0, 1);
fg1.push_factor(0, 2);
fg1.push_factor(5, 9);
fg1.push_factor(2, 3);
fg2.push_factor(1, 3);
fg2.push_factor(2, 4);
fg2.push_factor(3, 5);
fg2.push_factor(5, 6);
auto fg1 = testGraph1(), fg2 = testGraph2();
// Create original graph and VariableIndex
SymbolicFactorGraph fgOriginal; fgOriginal.push_back(fg1); fgOriginal.push_back(fg2);