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Group checks out !

release/4.3a0
dellaert 2014-12-06 12:59:35 +01:00
parent 6c2b28aa8b
commit 4d2a0aefc1
1 changed files with 44 additions and 8 deletions
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52
gtsam/geometry/tests/testCyclic.cpp
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@ -36,6 +36,14 @@ public:
Cyclic operator+(const Cyclic& h) const {
return (i_+h.i_) % N;
}
/// Subtraction modulo N
Cyclic operator-(const Cyclic& h) const {
return (N+i_-h.i_) % N;
}
/// Inverse
Cyclic operator-() const {
return (N-i_) % N;
}
};
namespace traits {
@ -124,18 +132,46 @@ TEST(Cyclic, Constructor) {
//******************************************************************************
TEST(Cyclic, Compose) {
G e(0), g(2), h(3);
EXPECT_LONGS_EQUAL(5, group::compose(g,h));
EXPECT_LONGS_EQUAL(0, group::compose(h,h));
EXPECT_LONGS_EQUAL(3, group::compose(h,e));
EXPECT_LONGS_EQUAL(0, group::compose(G(0),G(0)));
EXPECT_LONGS_EQUAL(1, group::compose(G(0),G(1)));
EXPECT_LONGS_EQUAL(2, group::compose(G(0),G(2)));
EXPECT_LONGS_EQUAL(3, group::compose(G(0),G(3)));
EXPECT_LONGS_EQUAL(4, group::compose(G(0),G(4)));
EXPECT_LONGS_EQUAL(5, group::compose(G(0),G(5)));
EXPECT_LONGS_EQUAL(2, group::compose(G(2),G(0)));
EXPECT_LONGS_EQUAL(3, group::compose(G(2),G(1)));
EXPECT_LONGS_EQUAL(4, group::compose(G(2),G(2)));
EXPECT_LONGS_EQUAL(5, group::compose(G(2),G(3)));
EXPECT_LONGS_EQUAL(0, group::compose(G(2),G(4)));
EXPECT_LONGS_EQUAL(1, group::compose(G(2),G(5)));
}
//******************************************************************************
TEST(Cyclic, Between) {
G g(2), h(3);
EXPECT_LONGS_EQUAL(1, group::between(g,h));
EXPECT_LONGS_EQUAL(0, group::between(g,g));
EXPECT_LONGS_EQUAL(0, group::between(h,h));
EXPECT_LONGS_EQUAL(0, group::between(G(0),G(0)));
EXPECT_LONGS_EQUAL(1, group::between(G(0),G(1)));
EXPECT_LONGS_EQUAL(2, group::between(G(0),G(2)));
EXPECT_LONGS_EQUAL(3, group::between(G(0),G(3)));
EXPECT_LONGS_EQUAL(4, group::between(G(0),G(4)));
EXPECT_LONGS_EQUAL(5, group::between(G(0),G(5)));
EXPECT_LONGS_EQUAL(4, group::between(G(2),G(0)));
EXPECT_LONGS_EQUAL(5, group::between(G(2),G(1)));
EXPECT_LONGS_EQUAL(0, group::between(G(2),G(2)));
EXPECT_LONGS_EQUAL(1, group::between(G(2),G(3)));
EXPECT_LONGS_EQUAL(2, group::between(G(2),G(4)));
EXPECT_LONGS_EQUAL(3, group::between(G(2),G(5)));
}
//******************************************************************************
TEST(Cyclic, Ivnverse) {
EXPECT_LONGS_EQUAL(0, group::inverse(G(0)));
EXPECT_LONGS_EQUAL(5, group::inverse(G(1)));
EXPECT_LONGS_EQUAL(4, group::inverse(G(2)));
EXPECT_LONGS_EQUAL(3, group::inverse(G(3)));
EXPECT_LONGS_EQUAL(2, group::inverse(G(4)));
EXPECT_LONGS_EQUAL(1, group::inverse(G(5)));
}
//******************************************************************************