diff --git a/gtsam/base/tests/testMatrix.cpp b/gtsam/base/tests/testMatrix.cpp index b2d512e4a..093f22961 100644 --- a/gtsam/base/tests/testMatrix.cpp +++ b/gtsam/base/tests/testMatrix.cpp @@ -211,48 +211,6 @@ TEST(Matrix, column ) EXPECT(assert_equal(a3, exp3)); } -/* ************************************************************************* */ -TEST(Matrix, insert_column ) -{ - Matrix big = Matrix::Zero(5,6); - Vector col = ones(5); - size_t j = 3; - - big.col(j) = col; - - Matrix expected = (Matrix(5, 6) << - 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 1.0, 0.0, 0.0).finished(); - - EXPECT(assert_equal(expected, big)); -} - -/* ************************************************************************* */ -TEST(Matrix, insert_subcolumn ) -{ - Matrix big = Matrix::Zero(5,6); - Vector col1 = ones(2); - size_t i = 1; - size_t j = 3; - - big.col(j).segment(i,col1.size()) = col1; - - Vector col2 = ones(1); - big.col(5).segment(4,col2.size()) = col2; - - Matrix expected = (Matrix(5, 6) << - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, 0.0, 0.0, 1.0).finished(); - - EXPECT(assert_equal(expected, big)); -} - /* ************************************************************************* */ TEST(Matrix, row ) { @@ -272,22 +230,6 @@ TEST(Matrix, row ) EXPECT(assert_equal(a3, exp3)); } -/* ************************************************************************* */ -TEST(Matrix, zeros ) -{ - Matrix A(2, 3); - A(0, 0) = 0; - A(0, 1) = 0; - A(0, 2) = 0; - A(1, 0) = 0; - A(1, 1) = 0; - A(1, 2) = 0; - - Matrix zero = Matrix::Zero(2,3); - - EQUALITY(A , zero); -} - /* ************************************************************************* */ TEST(Matrix, insert_sub ) { @@ -1052,26 +994,6 @@ TEST(Matrix, cholesky_inverse ) EQUALITY(cholesky::M.inverse(), cholesky_inverse(cholesky::M)); } -/* ************************************************************************* */ -TEST(Matrix, multiplyAdd ) -{ - Matrix A = (Matrix(3, 4) << 4., 0., 0., 1., 0., 4., 0., 2., 0., 0., 1., 3.).finished(); - Vector x = (Vector(4) << 1., 2., 3., 4.).finished(), e = Vector3(5., 6., 7.), - expected = e + A * x; - e += A * x; - EXPECT(assert_equal(expected, e)); -} - -/* ************************************************************************* */ -TEST(Matrix, transposeMultiplyAdd ) -{ - Matrix A = (Matrix(3, 4) << 4., 0., 0., 1., 0., 4., 0., 2., 0., 0., 1., 3.).finished(); - Vector x = (Vector(4) << 1., 2., 3., 4.).finished(), e = Vector3(5., 6., 7.), - expected = x + trans(A) * e; - x += A.transpose() * e; - EXPECT(assert_equal(expected, x)); -} - /* ************************************************************************* */ TEST(Matrix, linear_dependent ) {