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Removed JacobianMap tests

release/4.3a0
dellaert 2014-11-01 11:56:38 +01:00
parent f38b0b0eed
commit a4fa61a7a4
1 changed files with 2 additions and 12 deletions
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14
gtsam_unstable/nonlinear/tests/testExpression.cpp
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@ -46,11 +46,8 @@ static const Rot3 someR = Rot3::RzRyRx(1, 2, 3);
TEST(Expression, constant) { TEST(Expression, constant) {
Expression<Rot3> R(someR); Expression<Rot3> R(someR);
Values values; Values values;
JacobianMap actualMap; Rot3 actual = R.value(values);
Rot3 actual = R.value(values, actualMap);
EXPECT(assert_equal(someR, actual)); EXPECT(assert_equal(someR, actual));
JacobianMap expected;
EXPECT(actualMap == expected);
EXPECT_LONGS_EQUAL(0, R.traceSize()) EXPECT_LONGS_EQUAL(0, R.traceSize())
} }
@ -61,15 +58,8 @@ TEST(Expression, Leaf) {
Values values; Values values;
values.insert(100, someR); values.insert(100, someR);
JacobianMap expected; Rot3 actual2 = R.value(values);
Matrix H = eye(3);
expected.push_back(make_pair(100, H.block(0, 0, 3, 3)));
JacobianMap actualMap2;
actualMap2.push_back(make_pair(100, H.block(0, 0, 3, 3)));
Rot3 actual2 = R.reverse(values, actualMap2);
EXPECT(assert_equal(someR, actual2)); EXPECT(assert_equal(someR, actual2));
EXPECT(actualMap2 == expected);
} }
/* ************************************************************************* */ /* ************************************************************************* */