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Added unit test for hessianDiagonal

release/4.3a0
dellaert 2014-02-14 01:38:08 -05:00
parent 239b0fda6f
commit a272264e7d
2 changed files with 10 additions and 2 deletions
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4
.cproject
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@ -2164,10 +2164,10 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testJacobianFactor.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testJacobianFactorUnordered.run" path="build/gtsam/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>testJacobianFactor.run</buildTarget> <buildTarget>testJacobianFactorUnordered.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>

8
gtsam/linear/tests/testJacobianFactorUnordered.cpp
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@ -232,6 +232,14 @@ TEST(JacobianFactor, matrices)
EXPECT(assert_equal(jacobianExpected, factor.jacobianUnweighted().first)); EXPECT(assert_equal(jacobianExpected, factor.jacobianUnweighted().first));
EXPECT(assert_equal(rhsExpected, factor.jacobianUnweighted().second)); EXPECT(assert_equal(rhsExpected, factor.jacobianUnweighted().second));
EXPECT(assert_equal(augmentedJacobianExpected, factor.augmentedJacobianUnweighted())); EXPECT(assert_equal(augmentedJacobianExpected, factor.augmentedJacobianUnweighted()));
// hessianDiagonal
VectorValues expectDiagonal;
// below we divide by the variance 0.5^2
expectDiagonal.insert(5, (Vector(3) << 1, 1, 1)/0.25);
expectDiagonal.insert(10, (Vector(3) << 4, 4, 4)/0.25);
expectDiagonal.insert(15, (Vector(3) << 9, 9, 9)/0.25);
EXPECT(assert_equal(expectDiagonal, factor.hessianDiagonal()));
} }
/* ************************************************************************* */ /* ************************************************************************* */