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Added testcase mixing binary and ternary cases

release/4.3a0
Frank Dellaert 2015-07-09 00:53:40 -07:00
parent a923086a00
commit aa1fae41a9
1 changed files with 44 additions and 6 deletions
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50
tests/testExpressionFactor.cpp
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@ -520,14 +520,11 @@ struct Combine {
TEST(Expression, testMultipleCompositions) { TEST(Expression, testMultipleCompositions) {
const double tolerance = 1e-5; const double tolerance = 1e-5;
const double fd_step = 1e-9; const double fd_step = 1e-5;
double v1 = 2;
double v2 = 3;
Values values; Values values;
values.insert(1, v1); values.insert(1, 10.0);
values.insert(2, v2); values.insert(2, 20.0);
Expression<double> v1_(Key(1)); Expression<double> v1_(Key(1));
Expression<double> v2_(Key(2)); Expression<double> v2_(Key(2));
@ -562,6 +559,47 @@ TEST(Expression, testMultipleCompositions) {
EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance); EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance);
} }
/* ************************************************************************* */
// Another test, with Ternary Expressions
static double combine3(const double& x, const double& y, const double& z,
OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2,
OptionalJacobian<1, 1> H3) {
if (H1) (*H1) << 1.0;
if (H2) (*H2) << 2.0;
if (H3) (*H3) << 3.0;
return x + 2.0 * y + 3.0 * z;
}
TEST(Expression, testMultipleCompositions2) {
const double tolerance = 1e-5;
const double fd_step = 1e-5;
Values values;
values.insert(1, 10.0);
values.insert(2, 20.0);
values.insert(3, 30.0);
Expression<double> v1_(Key(1));
Expression<double> v2_(Key(2));
Expression<double> v3_(Key(3));
Expression<double> sum1_(Combine(4,5), v1_, v2_);
EXPECT(sum1_.keys() == list_of(1)(2));
EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum1_, values, fd_step, tolerance);
Expression<double> sum2_(combine3, v1_, v2_, v3_);
EXPECT(sum2_.keys() == list_of(1)(2)(3));
EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance);
Expression<double> sum3_(combine3, v3_, v2_, v1_);
EXPECT(sum3_.keys() == list_of(1)(2)(3));
EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance);
Expression<double> sum4_(combine3, sum1_, sum2_, sum3_);
EXPECT(sum4_.keys() == list_of(1)(2)(3));
EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum4_, values, fd_step, tolerance);
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {
TestResult tr; TestResult tr;