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TestBinaryExpression friend

release/4.3a0
dellaert 2014-10-11 08:17:46 +02:00
parent a2d2d82e0e
commit 820e9553ee
2 changed files with 32 additions and 9 deletions
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5
gtsam_unstable/nonlinear/Expression-inl.h
View File

@ -24,6 +24,8 @@
#include <boost/foreach.hpp>
#include <boost/tuple/tuple.hpp>
struct TestBinaryExpression;
namespace gtsam {
template<typename T>
@ -483,7 +485,8 @@ private:
function_(f), expressionA1_(e1.root()), expressionA2_(e2.root()) {
}
friend class Expression<T> ;
friend class Expression<T>;
friend struct ::TestBinaryExpression;
public:

36
gtsam_unstable/nonlinear/tests/testExpressionFactor.cpp
View File

@ -48,7 +48,7 @@ TEST(ExpressionFactor, leaf) {
// Create leaves
Point2_ p(2);
// Try concise version
// Concise version
ExpressionFactor<Point2> f(model, Point2(0, 0), p);
EXPECT_LONGS_EQUAL(2, f.dim());
boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
@ -72,7 +72,7 @@ TEST(ExpressionFactor, model) {
// Create leaves
Point2_ p(2);
// Try concise version
// Concise version
SharedNoiseModel model = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.01));
ExpressionFactor<Point2> f(model, Point2(0, 0), p);
@ -85,7 +85,7 @@ TEST(ExpressionFactor, model) {
/* ************************************************************************* */
// Unary(Leaf))
TEST(ExpressionFactor, test) {
TEST(ExpressionFactor, unary) {
// Create some values
Values values;
@ -98,7 +98,7 @@ TEST(ExpressionFactor, test) {
// Create leaves
Point3_ p(2);
// Try concise version
// Concise version
ExpressionFactor<Point2> f(model, measured, project(p));
EXPECT_LONGS_EQUAL(2, f.dim());
boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
@ -106,10 +106,30 @@ TEST(ExpressionFactor, test) {
boost::dynamic_pointer_cast<JacobianFactor>(gf);
EXPECT( assert_equal(expected, *jf, 1e-9));
}
/* ************************************************************************* */
struct TestBinaryExpression {
static Point2 myUncal(const Cal3_S2& K, const Point2& p,
boost::optional<Matrix25&> Dcal, boost::optional<Matrix2&> Dp) {
return K.uncalibrate(p, Dcal, Dp);
}
Cal3_S2_ K_;
Point2_ p_;
BinaryExpression<Point2, Cal3_S2, Point2> binary_;
TestBinaryExpression() :
K_(1), p_(2), binary_(myUncal, K_, p_) {
}
};
/* ************************************************************************* */
// Binary(Leaf,Leaf)
TEST(ExpressionFactor, binary) {
TestBinaryExpression tester;
// Check raw memory trace
}
/* ************************************************************************* */
// Unary(Binary(Leaf,Leaf))
TEST(ExpressionFactor, test1) {
TEST(ExpressionFactor, shallow) {
// Create some values
Values values;
@ -126,7 +146,7 @@ TEST(ExpressionFactor, test1) {
Pose3_ x(1);
Point3_ p(2);
// Try concise version
// Concise version
ExpressionFactor<Point2> f2(model, measured, project(transform_to(x, p)));
EXPECT_DOUBLES_EQUAL(expected_error, f2.error(values), 1e-9);
EXPECT_LONGS_EQUAL(2, f2.dim());
@ -136,7 +156,7 @@ TEST(ExpressionFactor, test1) {
/* ************************************************************************* */
// Binary(Leaf,Unary(Binary(Leaf,Leaf)))
TEST(ExpressionFactor, test2) {
TEST(ExpressionFactor, tree) {
// Create some values
Values values;
@ -166,7 +186,7 @@ TEST(ExpressionFactor, test2) {
boost::shared_ptr<GaussianFactor> gf = f.linearize(values);
EXPECT( assert_equal(*expected, *gf, 1e-9));
// Try concise version
// Concise version
ExpressionFactor<Point2> f2(model, measured,
uncalibrate(K, project(transform_to(x, p))));
EXPECT_DOUBLES_EQUAL(expected_error, f2.error(values), 1e-9);