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some namespace management

release/4.3a0
dellaert 2014-10-11 07:39:13 +02:00
parent 23485a0e71
commit a2d2d82e0e
1 changed files with 42 additions and 18 deletions
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60
gtsam_unstable/nonlinear/tests/testExpression.cpp
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@ -40,7 +40,7 @@ Point2 uncalibrate(const CAL& K, const Point2& p,
static const Rot3 someR = Rot3::RzRyRx(1, 2, 3); static const Rot3 someR = Rot3::RzRyRx(1, 2, 3);
/* ************************************************************************* */ /* ************************************************************************* */
// Constant
TEST(Expression, constant) { TEST(Expression, constant) {
Expression<Rot3> R(someR); Expression<Rot3> R(someR);
Values values; Values values;
@ -51,7 +51,7 @@ TEST(Expression, constant) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
// Leaf
TEST(Expression, leaf) { TEST(Expression, leaf) {
Expression<Rot3> R(100); Expression<Rot3> R(100);
Values values; Values values;
@ -77,31 +77,55 @@ TEST(Expression, leaf) {
// EXPECT(assert_equal(expected.at(67),a.jacobians().at(67))); // EXPECT(assert_equal(expected.at(67),a.jacobians().at(67)));
//} //}
/* ************************************************************************* */ /* ************************************************************************* */
// Binary(Leaf,Leaf)
namespace binary {
// Create leaves
Expression<Pose3> x(1);
Expression<Point3> p(2);
Expression<Point3> p_cam(x, &Pose3::transform_to, p);
}
/* ************************************************************************* */
// keys
TEST(Expression, keys_binary) {
// Check keys
set<Key> expectedKeys;
expectedKeys.insert(1);
expectedKeys.insert(2);
EXPECT(expectedKeys == binary::p_cam.keys());
}
/* ************************************************************************* */
// Binary(Leaf,Unary(Binary(Leaf,Leaf))) // Binary(Leaf,Unary(Binary(Leaf,Leaf)))
TEST(Expression, test) { namespace tree {
using namespace binary;
// Create leaves
Expression<Cal3_S2> K(3);
// Test Constant expression // Create expression tree
Expression<Rot3> c(Rot3::identity()); Expression<Point2> projection(PinholeCamera<Cal3_S2>::project_to_camera, p_cam);
Expression<Point2> uv_hat(uncalibrate<Cal3_S2>, K, projection);
// Create leaves }
Expression<Pose3> x(1); /* ************************************************************************* */
Expression<Point3> p(2); // keys
Expression<Cal3_S2> K(3); TEST(Expression, keys_tree) {
// Create expression tree
Expression<Point3> p_cam(x, &Pose3::transform_to, p);
Expression<Point2> projection(PinholeCamera<Cal3_S2>::project_to_camera,
p_cam);
Expression<Point2> uv_hat(uncalibrate<Cal3_S2>, K, projection);
// Check keys // Check keys
set<Key> expectedKeys; set<Key> expectedKeys;
expectedKeys.insert(1); expectedKeys.insert(1);
expectedKeys.insert(2); expectedKeys.insert(2);
expectedKeys.insert(3); expectedKeys.insert(3);
EXPECT(expectedKeys == uv_hat.keys()); EXPECT(expectedKeys == tree::uv_hat.keys());
}
/* ************************************************************************* */
// keys
TEST(Expression, block_tree) {
// // Check VerticalBlockMatrix
// size_t dimensions[3] = { 6, 3, 5 };
// Matrix matrix(2, 14);
// VerticalBlockMatrix expected(dimensions, matrix), actual =
// tree::uv_hat.verticalBlockMatrix();
// EXPECT( assert_equal(expected, *jf, 1e-9));
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Expression, compose1) { TEST(Expression, compose1) {