12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

modify testNoiseModel to use loss instead of error

release/4.3a0
yetongumich 2020-07-13 01:45:22 -04:00
parent ec993497f3
commit 52927c1c5b
1 changed files with 8 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
gtsam/linear/tests/testNoiseModel.cpp
View File

@ -182,8 +182,9 @@ TEST(NoiseModel, ConstrainedMixed )
EXPECT(assert_equal(Vector3(0.5, 1.0, 0.5),d->whiten(infeasible)));
EXPECT(assert_equal(Vector3(0.5, 0.0, 0.5),d->whiten(feasible)));
DOUBLES_EQUAL(0.5 * (1000.0 + 0.25 + 0.25),d->error(infeasible),1e-9);
DOUBLES_EQUAL(0.5 * 0.5,d->error(feasible),1e-9);
DOUBLES_EQUAL(0.5 * (1000.0 + 0.25 + 0.25),d->loss(d->squaredMahalanobisDistance(infeasible)),1e-9);
DOUBLES_EQUAL(0.5, d->squaredMahalanobisDistance(feasible),1e-9);
DOUBLES_EQUAL(0.5 * 0.5, d->loss(0.5),1e-9);
}
/* ************************************************************************* */
@ -197,8 +198,9 @@ TEST(NoiseModel, ConstrainedAll )
EXPECT(assert_equal(Vector3(1.0, 1.0, 1.0),i->whiten(infeasible)));
EXPECT(assert_equal(Vector3(0.0, 0.0, 0.0),i->whiten(feasible)));
DOUBLES_EQUAL(0.5 * 1000.0 * 3.0,i->error(infeasible),1e-9);
DOUBLES_EQUAL(0.0,i->error(feasible),1e-9);
DOUBLES_EQUAL(0.5 * 1000.0 * 3.0,i->loss(i->squaredMahalanobisDistance(infeasible)),1e-9);
DOUBLES_EQUAL(0.0, i->squaredMahalanobisDistance(feasible), 1e-9);
DOUBLES_EQUAL(0.0, i->loss(0.0),1e-9);
}
/* ************************************************************************* */
@ -717,7 +719,8 @@ TEST(NoiseModel, lossFunctionAtZero)
EQUALITY(cov, gaussian->covariance());\
EXPECT(assert_equal(white, gaussian->whiten(e)));\
EXPECT(assert_equal(e, gaussian->unwhiten(white)));\
EXPECT_DOUBLES_EQUAL(0.5 * 251, gaussian->error(e), 1e-9);\
EXPECT_DOUBLES_EQUAL(251.0, gaussian->squaredMahalanobisDistance(e), 1e-9);\
EXPECT_DOUBLES_EQUAL(0.5 * 251.0, gaussian->loss(251.0), 1e-9);\
Matrix A = R.inverse(); Vector b = e;\
gaussian->WhitenSystem(A, b);\
EXPECT(assert_equal(I, A));\