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Fixed bugs, all unit tests pass

release/4.3a0
Richard Roberts 2012-03-22 18:02:25 +00:00
parent be386ed6bd
commit b8ad7b2a0c
5 changed files with 12 additions and 65 deletions
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8
.cproject
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@ -2053,6 +2053,14 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testNonlinearOptimizer.run" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j7</buildArguments>
<buildTarget>testNonlinearOptimizer.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>

2
gtsam/nonlinear/GaussNewtonOptimizer.h
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@ -210,7 +210,7 @@ private:
// error, and increments the iteration count.
GaussNewtonOptimizer(const GaussNewtonOptimizer& original,
const SharedValues& newValues, double newError) :
NonlinearOptimizer(graph_, newValues, params_, newError, iterations_+1),
NonlinearOptimizer(original.graph_, newValues, original.params_, newError, original.iterations_+1),
gnParams_(original.gnParams_),
colamdOrdering_(original.colamdOrdering_),
ordering_(original.ordering_) {}

2
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -46,7 +46,7 @@ NonlinearOptimizer::auto_ptr LevenbergMarquardtOptimizer::iterate() const {
const double lambdaFactor = lmParams_->lambdaFactor;
// Variables to update during try_lambda loop
double lambda = lmParams_->lambdaInitial;
double lambda = lambda_;
double next_error = error();
SharedValues next_values = values();

2
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
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@ -263,7 +263,7 @@ private:
// error, and increments the iteration count.
LevenbergMarquardtOptimizer(const LevenbergMarquardtOptimizer& original,
const SharedValues& newValues, double newError, double newLambda) :
NonlinearOptimizer(graph_, newValues, params_, newError, iterations_+1),
NonlinearOptimizer(original.graph_, newValues, original.params_, newError, original.iterations_+1),
lmParams_(original.lmParams_),
colamdOrdering_(original.colamdOrdering_),
ordering_(original.ordering_),

63
tests/testNonlinearOptimizer.cpp
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@ -163,7 +163,6 @@ TEST( NonlinearOptimizer, optimization_method )
paramsQR.factorization = LevenbergMarquardtParams::QR;
LevenbergMarquardtParams paramsLDL;
paramsLDL.factorization = LevenbergMarquardtParams::LDL;
EXPECT(false);
example::Graph fg = example::createReallyNonlinearFactorGraph();
@ -202,7 +201,7 @@ TEST( NonlinearOptimizer, Factorization )
}
/* ************************************************************************* */
TEST_UNSAFE(NonlinearOptimizer, NullFactor) {
TEST(NonlinearOptimizer, NullFactor) {
example::Graph fg = example::createReallyNonlinearFactorGraph();
@ -234,66 +233,6 @@ TEST_UNSAFE(NonlinearOptimizer, NullFactor) {
DOUBLES_EQUAL(0,fg.error(*actual2->values()),tol);
}
///* ************************************************************************* */
// SL-FIX TEST( NonlinearOptimizer, SubgraphSolver )
//{
// using namespace pose2SLAM;
// typedef SubgraphSolver<Graph, Values> Solver;
// typedef NonlinearOptimizer<Graph, Values, SubgraphPreconditioner, Solver> Optimizer;
//
// // Create a graph
// boost::shared_ptr<Graph> graph(new Graph);
// graph->addPrior(1, Pose2(0., 0., 0.), noiseModel::Isotropic::Sigma(3, 1e-10));
// graph->addConstraint(1, 2, Pose2(1., 0., 0.), noiseModel::Isotropic::Sigma(3, 1));
//
// // Create an initial config
// boost::shared_ptr<Values> config(new Values);
// config->insert(1, Pose2(0., 0., 0.));
// config->insert(2, Pose2(1.5, 0., 0.));
//
// // Create solver and optimizer
// Optimizer::shared_solver solver
// (new SubgraphSolver<Graph, Values> (*graph, *config));
// Optimizer optimizer(graph, config, solver);
//
// // Optimize !!!!
// double relativeThreshold = 1e-5;
// double absoluteThreshold = 1e-5;
// Optimizer optimized = optimizer.gaussNewton(relativeThreshold,
// absoluteThreshold, Optimizer::SILENT);
//
// // Check solution
// Values expected;
// expected.insert(1, Pose2(0., 0., 0.));
// expected.insert(2, Pose2(1., 0., 0.));
// CHECK(assert_equal(expected, *optimized.values(), 1e-5));
//}
/* ************************************************************************* */
// SL-FIX TEST( NonlinearOptimizer, MultiFrontalSolver )
//{
// shared_ptr<example::Graph> fg(new example::Graph(
// example::createNonlinearFactorGraph()));
// Optimizer::shared_values initial = example::sharedNoisyValues();
//
// Values expected;
// expected.insert(simulated2D::PoseKey(1), Point2(0.0, 0.0));
// expected.insert(simulated2D::PoseKey(2), Point2(1.5, 0.0));
// expected.insert(simulated2D::PointKey(1), Point2(0.0, -1.0));
//
// Optimizer::shared_solver solver;
//
// // Check one ordering
// shared_ptr<Ordering> ord1(new Ordering());
// *ord1 += kx(2),kl(1),kx(1);
// solver = Optimizer::shared_solver(new Optimizer::solver(ord1));
// Optimizer optimizer1(fg, initial, solver);
//
// Values actual = optimizer1.levenbergMarquardt();
// CHECK(assert_equal(actual,expected));
//}
/* ************************************************************************* */
int main() {
TestResult tr;