From b9b761e06b94750678b079a32492120a611782a7 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 8 Jul 2015 18:45:27 -0700 Subject: [PATCH] Made tests work better with CppUnitLite --- gtsam/nonlinear/expressionTesting.h | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/gtsam/nonlinear/expressionTesting.h b/gtsam/nonlinear/expressionTesting.h index 47f61b8b1..f2f1c9578 100644 --- a/gtsam/nonlinear/expressionTesting.h +++ b/gtsam/nonlinear/expressionTesting.h @@ -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(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 -void testExpressionJacobians(TestResult& result_, const std::string& name_, +bool testExpressionJacobians(TestResult& result_, const std::string& name_, const gtsam::Expression& expression, const gtsam::Values& values, double nd_step, double tolerance) { // Create factor size_t size = traits::dimension; ExpressionFactor 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)); }