From 527ea5e5114220a663c8a14192a49ade6278d762 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Wed, 12 Jun 2013 20:01:59 +0000
Subject: [PATCH] Moved serialization tests over to a single test scenario -
 factors don't appear to work at the moment

---
 .../testGraphValuesSerialization.m            | 56 +++++++++++++++++++
 matlab/gtsam_tests/testPlanarSLAMExample.m    | 10 ----
 matlab/gtsam_tests/testPose2SLAMExample.m     | 10 ----
 matlab/gtsam_tests/test_gtsam.m               |  3 +
 4 files changed, 59 insertions(+), 20 deletions(-)
 create mode 100644 matlab/gtsam_tests/testGraphValuesSerialization.m

diff --git a/matlab/gtsam_tests/testGraphValuesSerialization.m b/matlab/gtsam_tests/testGraphValuesSerialization.m
new file mode 100644
index 000000000..1d4066c82
--- /dev/null
+++ b/matlab/gtsam_tests/testGraphValuesSerialization.m
@@ -0,0 +1,56 @@
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% GTSAM Copyright 2010, Georgia Tech Research Corporation,
+% Atlanta, Georgia 30332-0415
+% All Rights Reserved
+% Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+%
+% See LICENSE for the license information
+%
+% @brief Simple robotics example using the pre-built planar SLAM domain
+% @author Alex Cunningham
+% @author Frank Dellaert
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+import gtsam.*
+
+%% Create keys for variables
+i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3);
+j1 = symbol('l',1); j2 = symbol('l',2);
+
+%% Create graph and factors
+graph = NonlinearFactorGraph;
+
+% Prior factor - FAIL: unregistered class
+priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin
+priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]);
+graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph
+
+% Between Factors - FAIL: unregistered class
+odometry = Pose2(2.0, 0.0, 0.0);
+odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]);
+graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise));
+graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise));
+
+% BearingRange Factors - FAIL: unregistered class
+degrees = pi/180;
+brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]);
+graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise));
+graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise));
+graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise));
+
+%% Create Values
+values = Values;
+values.insert(i1, Pose2(0.5, 0.0, 0.2));
+values.insert(i2, Pose2(2.3, 0.1,-0.2));
+values.insert(i3, Pose2(4.1, 0.1, 0.1));
+values.insert(j1, Point2(1.8, 2.1));
+values.insert(j2, Point2(4.1, 1.8));
+
+%% Check that serialization works properly
+serialized_values = serializeValues(values); % returns a string
+deserializedValues = deserializeValues(serialized_values); % returns a new values
+CHECK('values.equals(deserializedValues)',values.equals(deserializedValues,1e-9));
+
+serialized_graph = serializeGraph(graph); % returns a string
+deserializedGraph = deserializeGraph(serialized_graph); % returns a new graph
+CHECK('graph.equals(deserializedGraph)',graph.equals(deserializedGraph,1e-9));
\ No newline at end of file
diff --git a/matlab/gtsam_tests/testPlanarSLAMExample.m b/matlab/gtsam_tests/testPlanarSLAMExample.m
index 584b86345..7694a1a0b 100644
--- a/matlab/gtsam_tests/testPlanarSLAMExample.m
+++ b/matlab/gtsam_tests/testPlanarSLAMExample.m
@@ -67,13 +67,3 @@ CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4));
 point_1 = result.at(symbol('l',1));
 marginals.marginalCovariance(symbol('l',1));
 CHECK('point_1.equals(Point2(2,2),1e-4)',point_1.equals(Point2(2,2),1e-4));
-
-%% Check that serialization works properly
-serialized_values = serializeValues(initialEstimate);
-deserializedValues = deserializeValues(serialized_values);
-CHECK('initialEstimate.equals(deserializedValues)',initialEstimate.equals(deserializedValues,1e-9));
-
-% FAILS: unregistered class? 
-% serialized_graph = serializeGraph(graph);
-% deserializedGraph = deserializeGraph(serialized_graph);
-% CHECK('graph.equals(deserializedGraph)',graph.equals(deserializedGraph,1e-9));
\ No newline at end of file
diff --git a/matlab/gtsam_tests/testPose2SLAMExample.m b/matlab/gtsam_tests/testPose2SLAMExample.m
index 2ac354955..8c70c27e7 100644
--- a/matlab/gtsam_tests/testPose2SLAMExample.m
+++ b/matlab/gtsam_tests/testPose2SLAMExample.m
@@ -60,13 +60,3 @@ P = marginals.marginalCovariance(1);
 pose_1 = result.at(1);
 CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4));
 
-
-%% Check that serialization works properly
-serialized_values = serializeValues(initialEstimate);
-deserializedValues = deserializeValues(serialized_values);
-CHECK('initialEstimate.equals(deserializedValues)',initialEstimate.equals(deserializedValues,1e-9));
-
-% FAILS: unregistered class? 
-% serialized_graph = serializeGraph(graph);
-% deserializedGraph = deserializeGraph(serialized_graph);
-% CHECK('graph.equals(deserializedGraph)',graph.equals(deserializedGraph,1e-9));
diff --git a/matlab/gtsam_tests/test_gtsam.m b/matlab/gtsam_tests/test_gtsam.m
index 113e594fd..1f8125b81 100644
--- a/matlab/gtsam_tests/test_gtsam.m
+++ b/matlab/gtsam_tests/test_gtsam.m
@@ -30,5 +30,8 @@ testStereoVOExample
 display 'Starting: testVisualISAMExample'
 testVisualISAMExample
 
+display 'Starting: testGraphValuesSerialization'
+testVisualISAMExample
+
 % end of tests
 display 'Tests complete!'