From ac0f1081063b7af048561323204e21f309cb3d0f Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Mon, 5 Aug 2013 22:31:15 +0000
Subject: [PATCH] Removed redundant test

---
 tests/testInferenceB.cpp | 89 ----------------------------------------
 1 file changed, 89 deletions(-)
 delete mode 100644 tests/testInferenceB.cpp

diff --git a/tests/testInferenceB.cpp b/tests/testInferenceB.cpp
deleted file mode 100644
index 64bdd480c..000000000
--- a/tests/testInferenceB.cpp
+++ /dev/null
@@ -1,89 +0,0 @@
-/* ----------------------------------------------------------------------------
-
- * GTSAM Copyright 2010, Georgia Tech Research Corporation, 
- * Atlanta, Georgia 30332-0415
- * All Rights Reserved
- * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
-
- * See LICENSE for the license information
-
- * -------------------------------------------------------------------------- */
-
-/**
- * @file    testInferenceB.cpp
- * @brief   Unit tests for functionality declared in inference.h
- * @author  Frank Dellaert
- */
-
-#include <CppUnitLite/TestHarness.h>
-
-#include <gtsam/slam/PriorFactor.h>
-#include <gtsam/slam/BetweenFactor.h>
-#include <gtsam/slam/BearingRangeFactor.h>
-#include <gtsam/nonlinear/NonlinearFactorGraph.h>
-#include <gtsam/nonlinear/Values.h>
-#include <gtsam/nonlinear/Symbol.h>
-#include <gtsam/linear/GaussianSequentialSolver.h>
-#include <gtsam/linear/GaussianMultifrontalSolver.h>
-#include <gtsam/geometry/Pose2.h>
-#include <gtsam/geometry/Point2.h>
-#include <gtsam/geometry/Rot2.h>
-
-#include <tests/smallExample.h>
-
-using namespace std;
-using namespace gtsam;
-
-// Convenience for named keys
-using symbol_shorthand::X;
-using symbol_shorthand::L;
-
-/* ************************************************************************* */
-// The tests below test the *generic* inference algorithms. Some of these have
-// specialized versions in the derived classes GaussianFactorGraph etc...
-/* ************************************************************************* */
-
-/* ************************************************************************* */
-TEST( inference, marginals )
-{
-  using namespace example;
-  // create and marginalize a small Bayes net on "x"
-  GaussianBayesNetOrdered cbn = createSmallGaussianBayesNet();
-  vector<Index> xvar; xvar.push_back(0);
-  GaussianBayesNetOrdered actual = *GaussianSequentialSolver(
-      *GaussianSequentialSolver(GaussianFactorGraphOrdered(cbn)).jointFactorGraph(xvar)).eliminate();
-
-  // expected is just scalar Gaussian on x
-  GaussianBayesNetOrdered expected = scalarGaussian(0, 4, sqrt(2.0));
-  CHECK(assert_equal(expected,actual));
-}
-
-/* ************************************************************************* */
-TEST( inference, marginals2)
-{
-  NonlinearFactorGraph fg;
-  SharedDiagonal poseModel(noiseModel::Isotropic::Sigma(3, 0.1));
-  SharedDiagonal pointModel(noiseModel::Isotropic::Sigma(2, 0.1));
-
-  fg.add(PriorFactor<Pose2>(X(0), Pose2(), poseModel));
-  fg.add(BetweenFactor<Pose2>(X(0), X(1), Pose2(1.0,0.0,0.0), poseModel));
-  fg.add(BetweenFactor<Pose2>(X(1), X(2), Pose2(1.0,0.0,0.0), poseModel));
-  fg.add(BearingRangeFactor<Pose2, Point2>(X(0), L(0), Rot2(), 1.0, pointModel));
-  fg.add(BearingRangeFactor<Pose2, Point2>(X(1), L(0), Rot2(), 1.0, pointModel));
-  fg.add(BearingRangeFactor<Pose2, Point2>(X(2), L(0), Rot2(), 1.0, pointModel));
-
-  Values init;
-  init.insert(X(0), Pose2(0.0,0.0,0.0));
-  init.insert(X(1), Pose2(1.0,0.0,0.0));
-  init.insert(X(2), Pose2(2.0,0.0,0.0));
-  init.insert(L(0), Point2(1.0,1.0));
-
-  OrderingOrdered ordering(*fg.orderingCOLAMD(init));
-  FactorGraphOrdered<GaussianFactorOrdered>::shared_ptr gfg(fg.linearize(init, ordering));
-  GaussianMultifrontalSolver solver(*gfg);
-  solver.marginalFactor(ordering[L(0)]);
-}
-
-/* ************************************************************************* */
-int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
-/* ************************************************************************* */