From 71fe372fb3cdfcf83abcd6eaaf0dc09b7bd64bbd Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 11 Jan 2010 00:53:43 +0000 Subject: [PATCH] test successive iterates --- cpp/testNonlinearOptimizer.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/cpp/testNonlinearOptimizer.cpp b/cpp/testNonlinearOptimizer.cpp index 733cafaba..415560f7f 100644 --- a/cpp/testNonlinearOptimizer.cpp +++ b/cpp/testNonlinearOptimizer.cpp @@ -92,6 +92,15 @@ TEST( NonlinearOptimizer, iterateLM ) // LM iterate with lambda 0 should be the same Optimizer iterated2 = optimizer.iterateLM(); + // Try successive iterates. TODO: ugly pointers, better way ? + Optimizer *pointer = new Optimizer(iterated2); + for (int i=0;i<10;i++) { + Optimizer* newOptimizer = new Optimizer(pointer->iterateLM()); + delete pointer; + pointer = newOptimizer; + } + delete(pointer); + CHECK(assert_equal(*iterated1.config(), *iterated2.config(), 1e-9)); }