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Resurrected remaining tests and deleted two

release/4.3a0
Frank Dellaert 2019-05-15 20:33:23 -04:00
parent 110240aa4f
commit 912c091dc9
1 changed files with 6 additions and 61 deletions
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67
tests/testGaussianFactorGraphB.cpp
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@ -169,35 +169,6 @@ TEST(GaussianFactorGraph, eliminateOne_l1_fast) {
EXPECT(assert_equal(expected, *actual, tol));
}
// /* ************************************************************************* */
// TEST( GaussianFactorGraph, eliminateAll )
// {
// // create expected Chordal bayes Net
// Matrix I = I_2x2;
// Ordering ordering;
// ordering += X(2),L(1),X(1);
// Vector d1 = Vector2(-0.1,-0.1);
// GaussianBayesNet expected = simpleGaussian(X(1),d1,0.1);
// double sig1 = 0.149071;
// Vector d2 = Vector2(0.0, 0.2)/sig1, sigma2 = Vector::Ones(2);
// push_front(expected,L(1),d2, I/sig1,X(1), (-1)*I/sig1,sigma2);
// double sig2 = 0.0894427;
// Vector d3 = Vector2(0.2, -0.14)/sig2, sigma3 = Vector::Ones(2);
// push_front(expected,X(2),d3, I/sig2,L(1), (-0.2)*I/sig2, X(1), (-0.8)*I/sig2, sigma3);
// // Check one ordering
// GaussianFactorGraph fg1 = createGaussianFactorGraph();
// GaussianBayesNet actual = *fg1.eliminateSequential();
// EXPECT(assert_equal(expected,actual,tol));
// GaussianBayesNet actualQR = *fg1.eliminateSequential(, true);
// EXPECT(assert_equal(expected,actualQR,tol));
// }
/* ************************************************************************* */
TEST(GaussianFactorGraph, copying) {
// Create a graph
@ -338,19 +309,16 @@ TEST(GaussianFactorGraph, elimination) {
equal_with_abs_tol(expected2, R, 1e-6));
}
#if 0
/* ************************************************************************* */
// Tests ported from ConstrainedGaussianFactorGraph
/* ************************************************************************* */
TEST( GaussianFactorGraph, constrained_simple )
{
TEST(GaussianFactorGraph, constrained_simple) {
// get a graph with a constraint in it
GaussianFactorGraph fg = createSimpleConstraintGraph();
EXPECT(hasConstraints(fg));
// eliminate and solve
VectorValues actual = *fg.eliminateSequential().optimize();
VectorValues actual = fg.eliminateSequential()->optimize();
// verify
VectorValues expected = createSimpleConstraintValues();
@ -358,14 +326,13 @@ TEST( GaussianFactorGraph, constrained_simple )
}
/* ************************************************************************* */
TEST( GaussianFactorGraph, constrained_single )
{
TEST(GaussianFactorGraph, constrained_single) {
// get a graph with a constraint in it
GaussianFactorGraph fg = createSingleConstraintGraph();
EXPECT(hasConstraints(fg));
// eliminate and solve
VectorValues actual = *fg.eliminateSequential().optimize();
VectorValues actual = fg.eliminateSequential()->optimize();
// verify
VectorValues expected = createSingleConstraintValues();
@ -373,14 +340,13 @@ TEST( GaussianFactorGraph, constrained_single )
}
/* ************************************************************************* */
TEST( GaussianFactorGraph, constrained_multi1 )
{
TEST(GaussianFactorGraph, constrained_multi1) {
// get a graph with a constraint in it
GaussianFactorGraph fg = createMultiConstraintGraph();
EXPECT(hasConstraints(fg));
// eliminate and solve
VectorValues actual = *fg.eliminateSequential().optimize();
VectorValues actual = fg.eliminateSequential()->optimize();
// verify
VectorValues expected = createMultiConstraintValues();
@ -420,27 +386,6 @@ TEST(GaussianFactorGraph, replace)
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST(GaussianFactorGraph, createSmoother2)
{
using namespace example;
GaussianFactorGraph fg2;
Ordering ordering;
boost::tie(fg2,ordering) = createSmoother(3);
LONGS_EQUAL(5,fg2.size());
// eliminate
vector<Index> x3var; x3var.push_back(ordering[X(3)]);
vector<Index> x1var; x1var.push_back(X(1));
GaussianBayesNet p_x3 = *GaussianSequentialSolver(
*fg2.eliminateSequential().jointFactorGraph(x3var));
GaussianBayesNet p_x1 = *GaussianSequentialSolver(
*fg2.eliminateSequential().jointFactorGraph(x1var));
CHECK(assert_equal(*p_x1.back(),*p_x3.front())); // should be the same because of symmetry
}
#endif
/* ************************************************************************* */
TEST(GaussianFactorGraph, hasConstraints)
{