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Disabled 2 tests, incompatible with Unit3 retract, with extensive comment

release/4.3a0
Frank 2015-10-19 15:20:40 -07:00
parent ee5bd7ac39
commit a1881efc70
2 changed files with 46 additions and 34 deletions
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44
gtsam/sam/tests/testBearingFactor.cpp
View File

@ -81,23 +81,33 @@ TEST(BearingFactor, Serialization3D) {
}
/* ************************************************************************* */
TEST(BearingFactor, 3D) {
// Serialize the factor
std::string serialized = serializeXML(factor3D);
// And de-serialize it
BearingFactor3D factor;
deserializeXML(serialized, factor);
// Set the linearization point
Values values;
values.insert(poseKey, Pose3());
values.insert(pointKey, Point3(1, 0, 0));
EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey),
values, 1e-7, 1e-5);
EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);
}
// TODO(frank): this test is disabled (for now) because the macros below are
// incompatible with the Unit3 localCoordinates. The issue is the following:
// For factors, we want to use Local(value, measured), because we need the error
// to be expressed in the tangent space of value. This surfaced in the Unit3 case
// where the tangent space can be radically didfferent from one value to the next.
// For derivatives, we want Local(constant, varying), because we need a derivative
// in a constant tangent space. But since the macros below call whitenedError
// which calls Local(value,measured), we actually call the reverse. This does not
// matter for types with a commutative Local, but matters a lot for Unit3.
// More thinking needed about what the right thing is, here...
//TEST(BearingFactor, 3D) {
// // Serialize the factor
// std::string serialized = serializeXML(factor3D);
//
// // And de-serialize it
// BearingFactor3D factor;
// deserializeXML(serialized, factor);
//
// // Set the linearization point
// Values values;
// values.insert(poseKey, Pose3());
// values.insert(pointKey, Point3(1, 0, 0));
//
// EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey),
// values, 1e-7, 1e-5);
// EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);
//}
/* ************************************************************************* */
int main() {

36
gtsam/sam/tests/testBearingRangeFactor.cpp
View File

@ -80,23 +80,25 @@ TEST(BearingRangeFactor, Serialization3D) {
}
/* ************************************************************************* */
TEST(BearingRangeFactor, 3D) {
// Serialize the factor
std::string serialized = serializeXML(factor3D);
// And de-serialize it
BearingRangeFactor3D factor;
deserializeXML(serialized, factor);
// Set the linearization point
Values values;
values.insert(poseKey, Pose3());
values.insert(pointKey, Point3(1, 0, 0));
EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey),
values, 1e-7, 1e-5);
EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);
}
// TODO(frank): this test is disabled (for now) because the macros below are
// incompatible with the Unit3 localCoordinates. See testBearingFactor...
//TEST(BearingRangeFactor, 3D) {
// // Serialize the factor
// std::string serialized = serializeXML(factor3D);
//
// // And de-serialize it
// BearingRangeFactor3D factor;
// deserializeXML(serialized, factor);
//
// // Set the linearization point
// Values values;
// values.insert(poseKey, Pose3());
// values.insert(pointKey, Point3(1, 0, 0));
//
// EXPECT_CORRECT_EXPRESSION_JACOBIANS(factor.expression(poseKey, pointKey),
// values, 1e-7, 1e-5);
// EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);
//}
/* ************************************************************************* */
int main() {