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added DCS residual tests

release/4.3a0
Varun Agrawal 2019-10-08 21:25:56 -04:00
parent 431c37090a
commit 586a825c7c
1 changed files with 6 additions and 4 deletions
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10
gtsam/linear/tests/testNoiseModel.cpp
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@ -556,10 +556,12 @@ TEST(NoiseModel, robustFunctionDCS)
{ {
const double k = 1.0, error1 = 1.0, error2 = 10.0; const double k = 1.0, error1 = 1.0, error2 = 10.0;
const mEstimator::DCS::shared_ptr dcs = mEstimator::DCS::Create(k); const mEstimator::DCS::shared_ptr dcs = mEstimator::DCS::Create(k);
const double weight1 = dcs->weight(error1),
weight2 = dcs->weight(error2); DOUBLES_EQUAL(1.0 , dcs->weight(error1), 1e-8);
DOUBLES_EQUAL(1.0 , weight1, 1e-8); DOUBLES_EQUAL(0.00039211, dcs->weight(error2), 1e-8);
DOUBLES_EQUAL(0.00039211, weight2, 1e-8);
DOUBLES_EQUAL(0.5 , dcs->residual(error1), 1e-8);
DOUBLES_EQUAL(0.9900990099, dcs->residual(error2), 1e-8);
} }
TEST(NoiseModel, robustFunctionL2WithDeadZone) TEST(NoiseModel, robustFunctionL2WithDeadZone)