diff --git a/tests/testGaussianFactorGraphB.cpp b/tests/testGaussianFactorGraphB.cpp index 1bad1c412..c4e9d26f5 100644 --- a/tests/testGaussianFactorGraphB.cpp +++ b/tests/testGaussianFactorGraphB.cpp @@ -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 x3var; x3var.push_back(ordering[X(3)]); - vector 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) {