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Unit test verifies Jacobian and value

release/4.3a0
dellaert 2014-11-24 00:08:34 +01:00
parent e0f9f7a33e
commit 9322b3ba8b
1 changed files with 15 additions and 1 deletions
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16
gtsam_unstable/nonlinear/tests/testBasisDecompositions.cpp
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@ -20,6 +20,7 @@
#include <gtsam_unstable/nonlinear/ExpressionFactor.h> #include <gtsam_unstable/nonlinear/ExpressionFactor.h>
#include <gtsam/linear/VectorValues.h> #include <gtsam/linear/VectorValues.h>
#include <gtsam/linear/GaussianFactorGraph.h> #include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
@ -60,12 +61,25 @@ public:
/// Given coefficients c, predict value for x /// Given coefficients c, predict value for x
double operator()(const Coefficients& c, boost::optional<Jacobian&> H) { double operator()(const Coefficients& c, boost::optional<Jacobian&> H) {
if (H)
(*H) = H_;
return H_ * c; return H_ * c;
} }
}; };
//****************************************************************************** //******************************************************************************
TEST(BasisDecompositions, Fourier) { TEST(BasisDecompositions, Fourier) {
Fourier<3> fx(0);
Eigen::Matrix<double, 1, 3> expectedH, actualH;
Vector3 c(1.5661, 1.2717, 1.2717);
expectedH = numericalDerivative11<double, Vector3>(
boost::bind(&Fourier<3>::operator(), fx, _1, boost::none), c);
EXPECT_DOUBLES_EQUAL(c[0]+c[1], fx(c,actualH), 1e-9);
EXPECT(assert_equal((Matrix)expectedH, actualH));
}
//******************************************************************************
TEST(BasisDecompositions, FourierExpression) {
// Create linear factor graph // Create linear factor graph
GaussianFactorGraph g; GaussianFactorGraph g;
@ -93,7 +107,7 @@ TEST(BasisDecompositions, Fourier) {
// Check // Check
Vector3 expected(1.5661, 1.2717, 1.2717); Vector3 expected(1.5661, 1.2717, 1.2717);
CHECK(assert_equal((Vector) expected, actual.at(key),1e-4)); EXPECT(assert_equal((Vector) expected, actual.at(key),1e-4));
} }
//****************************************************************************** //******************************************************************************