From 52927c1c5b8a5b3e71ce8184fb6fcb4ca4c7b83b Mon Sep 17 00:00:00 2001 From: yetongumich Date: Mon, 13 Jul 2020 01:45:22 -0400 Subject: [PATCH] modify testNoiseModel to use loss instead of error --- gtsam/linear/tests/testNoiseModel.cpp | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/gtsam/linear/tests/testNoiseModel.cpp b/gtsam/linear/tests/testNoiseModel.cpp index dd1d46b42..42d68a603 100644 --- a/gtsam/linear/tests/testNoiseModel.cpp +++ b/gtsam/linear/tests/testNoiseModel.cpp @@ -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));\