From 9b418c98ca0443a7edd0cf65fe4f0b772e5365b5 Mon Sep 17 00:00:00 2001
From: thduynguyen <thduynguyen@gmail.com>
Date: Tue, 9 Dec 2014 16:26:19 -0500
Subject: [PATCH] fix LPSolver unittest

---
 gtsam_unstable/linear/tests/testLPSolver.cpp | 25 ++++++++++----------
 1 file changed, 13 insertions(+), 12 deletions(-)

diff --git a/gtsam_unstable/linear/tests/testLPSolver.cpp b/gtsam_unstable/linear/tests/testLPSolver.cpp
index e8606293e..d8f5142e2 100644
--- a/gtsam_unstable/linear/tests/testLPSolver.cpp
+++ b/gtsam_unstable/linear/tests/testLPSolver.cpp
@@ -10,6 +10,7 @@
 #include <boost/range/adaptor/map.hpp>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam_unstable/linear/LPSolver.h>
+#include <gtsam_unstable/linear/LinearInequalityFactorGraph.h>
 
 using namespace std;
 using namespace gtsam;
@@ -20,19 +21,19 @@ TEST(LPSolver, oneD) {
   objCoeffs.insert(Y(1), repeat(1, -5.0));
   objCoeffs.insert(X(2), repeat(1, -4.0));
   objCoeffs.insert(X(3), repeat(1, -6.0));
-  JacobianFactor constraint(
+  LinearInequality inequality(
       Y(1), (Matrix(3,1)<< 1,3,3),
       X(2), (Matrix(3,1)<< -1,2,2),
-      X(3), (Matrix(3,1)<< 1,4,0), (Vector(3)<<20,42,30),
-      noiseModel::Constrained::MixedSigmas((Vector(3)<<-1,-1,-1)));
+      X(3), (Matrix(3,1)<< 1,4,0), (Vector(3)<<20,42,30), 0);
   VectorValues lowerBounds;
   lowerBounds.insert(Y(1), zero(1));
   lowerBounds.insert(X(2), zero(1));
   lowerBounds.insert(X(3), zero(1));
-  GaussianFactorGraph::shared_ptr constraints(new GaussianFactorGraph);
-  constraints->push_back(constraint);
+  LinearInequalityFactorGraph::shared_ptr inequalities(new LinearInequalityFactorGraph);
+  inequalities->push_back(inequality);
+  LinearEqualityFactorGraph::shared_ptr equalities(new LinearEqualityFactorGraph);
 
-  LPSolver solver(objCoeffs, constraints, lowerBounds);
+  LPSolver solver(objCoeffs, equalities, inequalities, lowerBounds);
   vector<int> columnNo = solver.buildColumnNo(objCoeffs | boost::adaptors::map_keys);
   LONGS_EQUAL(3, columnNo.size());
   LONGS_EQUAL(1, columnNo[0]);
@@ -64,16 +65,16 @@ TEST(LPSolver, oneD) {
 TEST(LPSolver, threeD) {
   VectorValues objCoeffs;
   objCoeffs.insert(X(1), (Vector(3)<<-5.0, -4.0, -6.0));
-  JacobianFactor constraint(
-      X(1), (Matrix(3,3)<< 1,-1,1,3,2,4,3,2,0), (Vector(3)<<20,42,30),
-      noiseModel::Constrained::MixedSigmas((Vector(3)<<-1,-1,-1)));
+  LinearInequality inequality(
+      X(1), (Matrix(3,3)<< 1,-1,1,3,2,4,3,2,0), (Vector(3)<<20,42,30), 0);
   VectorValues lowerBounds;
   lowerBounds.insert(X(1), zeros(3,1));
 
-  GaussianFactorGraph::shared_ptr constraints(new GaussianFactorGraph);
-  constraints->push_back(constraint);
+  LinearInequalityFactorGraph::shared_ptr inequalities(new LinearInequalityFactorGraph);
+  inequalities->push_back(inequality);
+  LinearEqualityFactorGraph::shared_ptr equalities(new LinearEqualityFactorGraph);
 
-  LPSolver solver(objCoeffs, constraints, lowerBounds);
+  LPSolver solver(objCoeffs, equalities, inequalities, lowerBounds);
   vector<int> columnNo = solver.buildColumnNo(objCoeffs | boost::adaptors::map_keys);
   LONGS_EQUAL(3, columnNo.size());
   LONGS_EQUAL(1, columnNo[0]);