12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Made tests work better with CppUnitLite

release/4.3a0
dellaert 2015-07-08 18:45:27 -07:00
parent 3e85de6337
commit b9b761e06b
1 changed files with 6 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
gtsam/nonlinear/expressionTesting.h
View File

@ -34,7 +34,7 @@ namespace gtsam {
namespace internal {
// CPPUnitLite-style test for linearization of a factor
void testFactorJacobians(TestResult& result_, const std::string& name_,
bool testFactorJacobians(TestResult& result_, const std::string& name_,
const NoiseModelFactor& factor, const gtsam::Values& values, double delta,
double tolerance) {
@ -46,8 +46,7 @@ void testFactorJacobians(TestResult& result_, const std::string& name_,
boost::dynamic_pointer_cast<JacobianFactor>(factor.linearize(values));
// Check cast result and then equality
CHECK(actual);
EXPECT(assert_equal(expected, *actual, tolerance));
return actual && assert_equal(expected, *actual, tolerance);
}
}
@ -57,19 +56,19 @@ void testFactorJacobians(TestResult& result_, const std::string& name_,
/// \param numerical_derivative_step The step to use when computing the numerical derivative Jacobians
/// \param tolerance The numerical tolerance to use when comparing Jacobians.
#define EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, numerical_derivative_step, tolerance) \
{ gtsam::internal::testFactorJacobians(result_, name_, factor, values, numerical_derivative_step, tolerance); }
{ EXPECT(gtsam::internal::testFactorJacobians(result_, name_, factor, values, numerical_derivative_step, tolerance)); }
namespace internal {
// CPPUnitLite-style test for linearization of an ExpressionFactor
template<typename T>
void testExpressionJacobians(TestResult& result_, const std::string& name_,
bool testExpressionJacobians(TestResult& result_, const std::string& name_,
const gtsam::Expression<T>& expression, const gtsam::Values& values,
double nd_step, double tolerance) {
// Create factor
size_t size = traits<T>::dimension;
ExpressionFactor<T> f(noiseModel::Unit::Create(size),
expression.value(values), expression);
testFactorJacobians(result_, name_, f, values, nd_step, tolerance);
return testFactorJacobians(result_, name_, f, values, nd_step, tolerance);
}
} // namespace internal
} // namespace gtsam
@ -80,4 +79,4 @@ void testExpressionJacobians(TestResult& result_, const std::string& name_,
/// \param numerical_derivative_step The step to use when computing the finite difference Jacobians
/// \param tolerance The numerical tolerance to use when comparing Jacobians.
#define EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, numerical_derivative_step, tolerance) \
{ gtsam::internal::testExpressionJacobians(result_, name_, expression, values, numerical_derivative_step, tolerance); }
{ EXPECT(gtsam::internal::testExpressionJacobians(result_, name_, expression, values, numerical_derivative_step, tolerance)); }