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between tested

release/4.3a0
dellaert 2014-12-06 12:50:40 +01:00
parent 5407232e36
commit 6c2b28aa8b
2 changed files with 45 additions and 12 deletions
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18
gtsam/base/concepts.h
View File

@ -143,15 +143,19 @@ public:
d = between(g, h); d = between(g, h);
ig = inverse(g); ig = inverse(g);
test = operator_usage(g, h, flavor); test = operator_usage(g, h, flavor);
// test2 = equal(g, h);
} }
bool check_invariants(const G& a, const G& b) { // TODO: these all require default constructors :-(
return (equal(compose(a, inverse(a)), e)) // Also, requires equal which is not required of a group
&& (equal(between(a, b), compose(inverse(a), b))) // Group():e(group::traits::identity<G>::value) {
&& (equal(compose(a, between(a, b)), b)) // }
&& operator_usage(a, b, flavor); //
} // bool check_invariants(const G& a, const G& b) {
// return (equal(compose(a, inverse(a)), e))
// && (equal(between(a, b), compose(inverse(a), b)))
// && (equal(compose(a, between(a, b)), b))
// && operator_usage(a, b, flavor);
// }
private: private:
flavor_tag flavor; flavor_tag flavor;

39
gtsam/geometry/tests/testCyclic.cpp
View File

@ -32,6 +32,10 @@ public:
operator size_t() const { operator size_t() const {
return i_; return i_;
} }
/// Addition modulo N
Cyclic operator+(const Cyclic& h) const {
return (i_+h.i_) % N;
}
}; };
namespace traits { namespace traits {
@ -42,14 +46,21 @@ template<size_t N> struct structure_category<Cyclic<N> > {
} // \namespace traits } // \namespace traits
namespace group { namespace group {
template<size_t N>
Cyclic<N> compose(const Cyclic<N>&g, const Cyclic<N>& h);
template<size_t N> template<size_t N>
Cyclic<N> between(const Cyclic<N>&g, const Cyclic<N>& h); Cyclic<N> compose(const Cyclic<N>&g, const Cyclic<N>& h) {
return g + h;
}
template<size_t N> template<size_t N>
Cyclic<N> inverse(const Cyclic<N>&g); Cyclic<N> between(const Cyclic<N>&g, const Cyclic<N>& h) {
return h - g;
}
template<size_t N>
Cyclic<N> inverse(const Cyclic<N>&g) {
return -g;
}
namespace traits { namespace traits {
/// Define the trait that specifies Cyclic's identity element /// Define the trait that specifies Cyclic's identity element
@ -100,8 +111,10 @@ typedef Cyclic<6> G; // Let's use the cyclic group of order 6
//****************************************************************************** //******************************************************************************
TEST(Cyclic, Concept) { TEST(Cyclic, Concept) {
EXPECT_LONGS_EQUAL(0, group::traits::identity<G>::value);
BOOST_CONCEPT_ASSERT((Group<G>)); BOOST_CONCEPT_ASSERT((Group<G>));
EXPECT_LONGS_EQUAL(0, group::traits::identity<G>::value);
G g(2), h(3);
// EXPECT(Group<G>().check_invariants(g,h))
} }
//****************************************************************************** //******************************************************************************
@ -109,6 +122,22 @@ TEST(Cyclic, Constructor) {
G g(0); G g(0);
} }
//******************************************************************************
TEST(Cyclic, Compose) {
G e(0), g(2), h(3);
EXPECT_LONGS_EQUAL(5, group::compose(g,h));
EXPECT_LONGS_EQUAL(0, group::compose(h,h));
EXPECT_LONGS_EQUAL(3, group::compose(h,e));
}
//******************************************************************************
TEST(Cyclic, Between) {
G g(2), h(3);
EXPECT_LONGS_EQUAL(1, group::between(g,h));
EXPECT_LONGS_EQUAL(0, group::between(g,g));
EXPECT_LONGS_EQUAL(0, group::between(h,h));
}
//****************************************************************************** //******************************************************************************
int main() { int main() {
TestResult tr; TestResult tr;