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Added a test in GaussianFactor to demo a problem found in MAST where eliminating a single factor with two priors causes a memory corruption error. To run the test and see the error, go to the last test in testGaussianFactor called "exploding_MAST_factor" and uncomment the indicated line.

release/4.3a0
Alex Cunningham 2010-02-23 18:41:07 +00:00
parent a2310b4eab
commit ac41ee7215
1 changed files with 27 additions and 35 deletions
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62
cpp/testGaussianFactor.cpp
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@ -761,42 +761,34 @@ TEST ( GaussianFactor, combine_matrix ) {
CHECK(assert_equal(*expModel, *noise));
}
/* ************************************************************************* */
// FIXME: Executing this test results in a memory corruption error that
// crashes out and prints a stack trace on Ubuntu.
TEST ( GaussianFactor, exploding_MAST_factor ) {
// Tried switching to a different number, still same problem
Symbol lA2('l', 18295873486192642);
Matrix A1 = eye(2);
Vector b1 = zero(2);
SharedDiagonal model1 = noiseModel::Isotropic::Sigma(2, 1.0/sqrt(2.0));
GaussianFactor::shared_ptr f1(new GaussianFactor(lA2, A1, b1, model1));
Matrix A2 = Matrix_(3,3,
5.45735, 1.94835, -1.68176,
0, 10.2778, 0.973046,
0, 0, 12.253);
Vector b2 = Vector_(3, 1.29627e-16, 5.14706e-16, 4.19527e-16);
SharedDiagonal model2 = noiseModel::Diagonal::Sigmas(ones(3));
GaussianFactor::shared_ptr f2(new GaussianFactor(lA2, A2, b2, model2));
GaussianFactorGraph fg;
fg.push_back(f1);
fg.push_back(f2);
// FIXME: Uncomment to cause the error
//GaussianConditional::shared_ptr cg = fg.eliminateOne(lA2);
}
///* ************************************************************************* *
//TEST ( GaussianFactor, constraint_eliminate3 )
//{
// // This test shows that ordering matters if there are non-invertible
// // blocks, as this example can be eliminated if x is first, but not
// // if y is first.
//
// // Construct a linear constraint
// // RHS
// Vector b(2); b(0)=3.0; b(1)=4.0;
//
// // A1 - invertible
// Matrix A1(2,2);
// A1(0,0) = 1.0 ; A1(0,1) = 2.0;
// A1(1,0) = 2.0 ; A1(1,1) = 1.0;
//
// // A2 - not invertible
// Matrix A2(2,2);
// A2(0,0) = 1.0 ; A2(0,1) = 2.0;
// A2(1,0) = 2.0 ; A2(1,1) = 4.0;
//
// GaussianFactor lc("x", A1, "y", A2, b, 0.0);
//
// // eliminate y from original graph
// // NOTE: this will throw an exception, as
// // the leading matrix is rank deficient
// GaussianConditional::shared_ptr actualCG;
// GaussianFactor::shared_ptr actualLF;
// try {
// boost::tie(actualCG, actualLF) = lc.eliminate("y");
// CHECK(false);
// } catch (domain_error) {
// CHECK(true);
// }
//}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}