Testing old trace

gtsam_unstable/nonlinear/Expression-inl.h

@@ -91,6 +91,12 @@ public:
     type = Function;
     content.ptr = record;
   }
+  /// Return record pointer, highly unsafe, used only for testing
+  boost::optional<CallRecord<T>*> record() {
+    return
+        (type == Function) ? boost::optional<CallRecord<T>*>(content.ptr) :
+            boost::none;
+  }
   // *** This is the main entry point for reverseAD, called from Expression::augmented ***
   // Called only once, either inserts identity into Jacobians (Leaf) or starts AD (Function)
   void startReverseAD(JacobianMap& jacobians) const {
@@ -485,7 +491,7 @@ private:
       function_(f), expressionA1_(e1.root()), expressionA2_(e2.root()) {
   }
 
-  friend class Expression<T>;
+  friend class Expression<T> ;
   friend struct ::TestBinaryExpression;
 
 public:

gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp

@@ -122,9 +122,32 @@ struct TestBinaryExpression {
 /* ************************************************************************* */
 // Binary(Leaf,Leaf)
 TEST(ExpressionFactor, binary) {
-
   TestBinaryExpression tester;
 
+  // Create some values
+  Values values;
+  values.insert(1, Cal3_S2());
+  values.insert(2, Point2(0, 0));
+
+  // Do old trace
+  ExecutionTrace<Point2> trace;
+  tester.binary_.traceExecution(values, trace);
+
+  // Extract record :-(
+  boost::optional<CallRecord<Point2>*> r = trace.record();
+  CHECK(r);
+  typedef BinaryExpression<Point2, Cal3_S2, Point2> Binary;
+  Binary::Record* p = dynamic_cast<Binary::Record*>(*r);
+  CHECK(p);
+
+  // Check matrices
+  Matrix25 expected25;
+  expected25 << 0, 0, 0, 1, 0, 0, 0, 0, 0, 1;
+  EXPECT( assert_equal(expected25, (Matrix)p->dTdA1, 1e-9));
+  Matrix2 expected22;
+  expected22 << 1, 0, 0, 1;
+  EXPECT( assert_equal(expected22, (Matrix)p->dTdA2, 1e-9));
+
   // Check raw memory trace
 }
 /* ************************************************************************* */