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Remove tests using deprecated testable functions (getBuffer, getBufferSize)

release/4.3a0
Sungtae An 2014-12-04 22:33:53 -05:00
parent 4777c029ac
commit 7760a802ab
1 changed files with 14 additions and 50 deletions
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64
tests/testPreconditioner.cpp
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@ -115,6 +115,7 @@ TEST( Preconditioner, buildBlocks ) {
EXPECT_LONGS_EQUAL(expectedHessian.size(), actualHessian.size());
// Compare the values of matrices
// This test should be failed when the noise model is not isotropic.
std::map<Key, Matrix>::const_iterator it1 = expectedHessian.begin();
std::vector<Matrix>::const_iterator it2 = actualHessian.begin();
for(; it1!=expectedHessian.end(); it1++, it2++)
@ -137,6 +138,7 @@ TEST( Preconditioner, buildBlocks2 ) {
EXPECT_LONGS_EQUAL(expectedHessian.size(), actualHessian.size());
// Compare the values of matrices
// This test should be failed when the noise model is not isotropic.
std::map<Key, Matrix>::const_iterator it1 = expectedHessian.begin();
std::vector<Matrix>::const_iterator it2 = actualHessian.begin();
for(; it1!=expectedHessian.end(); it1++, it2++)
@ -174,21 +176,15 @@ TEST( BlockJacobiPreconditioner, verySimpleLinerSystem) {
//
// H0 = [17 7; 7 10]
//
Matrix expectedH0 = it1->second;
Matrix actualH0 = *it2;
EXPECT(assert_equal(expectedH0, (Matrix(2,2) << 17, 7, 7, 10).finished() ));
EXPECT(assert_equal(expectedH0, actualH0));
// The corresponding Cholesky decomposition is:
// R = chol(H0) = [4.1231 1.6977 0 2.6679] (from Matlab)
Preconditioner::shared_ptr preconditioner = createPreconditioner(boost::make_shared<gtsam::BlockJacobiPreconditionerParameters>());
preconditioner->build(simpleGFG, KeyInfo(simpleGFG), std::map<Key,Vector>());
boost::shared_ptr<BlockJacobiPreconditioner> blockJacobi = boost::dynamic_pointer_cast<BlockJacobiPreconditioner>(preconditioner);
Vector expectedR = (Vector(4) << 4.1231, 0, 1.6977, 2.6679).finished();
double* buf = blockJacobi->getBuffer();
for(int i=0; i<4; ++i){
EXPECT_DOUBLES_EQUAL(expectedR(i), buf[i], 1e-4);
}
Matrix expectedH0 = it1->second;
Matrix actualH0 = *it2;
// This test should be failed when the noise model is not isotropic.
EXPECT(assert_equal(expectedH0, (Matrix(2,2) << 17, 7, 7, 10).finished() ));
EXPECT(assert_equal(expectedH0, actualH0));
}
@ -213,18 +209,15 @@ TEST( BlockJacobiPreconditioner, SimpleLinerSystem) {
EXPECT_LONGS_EQUAL(expectedHessian.size(), actualHessian.size());
// Compare the values of matrices
// This test should be failed when the noise model is not isotropic.
std::map<Key, Matrix>::const_iterator it1 = expectedHessian.begin();
std::vector<Matrix>::const_iterator it2 = actualHessian.begin();
Preconditioner::shared_ptr preconditioner = createPreconditioner(boost::make_shared<gtsam::BlockJacobiPreconditionerParameters>());
preconditioner->build(simpleGFG, KeyInfo(simpleGFG), std::map<Key,Vector>());
boost::shared_ptr<BlockJacobiPreconditioner> blockJacobi = boost::dynamic_pointer_cast<BlockJacobiPreconditioner>(preconditioner);
double* buf = blockJacobi->getBuffer();
for(size_t i=0; i<blockJacobi->getBufferSize(); ++i){
std::cout << "buf[" << i << "] = " << buf[i] << std::endl;
for(; it1!=expectedHessian.end(); it1++, it2++){
Matrix expectedHi = it1->second;
Matrix actualHi = *it2;
EXPECT(assert_equal(expectedHi, actualHi));
}
}
/* ************************************************************************* */
@ -329,35 +322,6 @@ TEST(PCGSolver, simpleLinearSystem) {
EXPECT(assert_equal(expectedSolution, deltaPCGJacobi, 1e-5));
deltaPCGJacobi.print("PCG Jacobi");
// Test that the retrieval of the diagonal blocks of the Jacobian are correct.
std::map<Key, Matrix> expectedHessian =simpleGFG.hessianBlockDiagonal();
std::vector<Matrix> actualHessian = buildBlocks(simpleGFG, KeyInfo(simpleGFG));
EXPECT_LONGS_EQUAL(expectedHessian.size(), actualHessian.size());
std::map<Key, Matrix>::const_iterator it1 = expectedHessian.begin();
std::vector<Matrix>::const_iterator it2 = actualHessian.begin();
// The corresponding Cholesky decomposition is:
// R = chol(H0) = [4.1231 1.6977 0 2.6679] (from Matlab)
Preconditioner::shared_ptr preconditioner = createPreconditioner(boost::make_shared<gtsam::BlockJacobiPreconditionerParameters>());
preconditioner->build(simpleGFG, KeyInfo(simpleGFG), std::map<Key,Vector>());
boost::shared_ptr<BlockJacobiPreconditioner> blockJacobi = boost::dynamic_pointer_cast<BlockJacobiPreconditioner>(preconditioner);
double* buf = blockJacobi->getBuffer();
for(int i=0; i<4; ++i){}
// TODO: EXPECT(assert_equal(number..,buf[i]));
size_t i = 0;
for(; it1!=expectedHessian.end(); it1++, it2++){
//EXPECT(assert_equal(it1->second, *it2));
Matrix R_i(2,2);
R_i(0,0) = buf[i+0];
R_i(0,1) = buf[i+1];
R_i(1,0) = buf[i+2];
R_i(1,1) = buf[i+3];
Matrix actualH_i = R_i.transpose() * R_i;// i-th diagonal block
EXPECT(assert_equal(it1->second, actualH_i));
i += 4;
}
}
/* ************************************************************************* */