Better serialization tests

gtsam/sam/tests/testBearingFactor.cpp

@@ -49,9 +49,9 @@ BOOST_CLASS_EXPORT(gtsam::noiseModel::Isotropic);
 
 /* ************************************************************************* */
 TEST(BearingFactor, Serialization2D) {
-  EXPECT(serializationTestHelpers::equalsObj<BearingFactor2D>(factor2D));
+  EXPECT(serializationTestHelpers::equalsObj(factor2D));
-  EXPECT(serializationTestHelpers::equalsXML<BearingFactor2D>(factor2D));
+  EXPECT(serializationTestHelpers::equalsXML(factor2D));
-  EXPECT(serializationTestHelpers::equalsBinary<BearingFactor2D>(factor2D));
+  EXPECT(serializationTestHelpers::equalsBinary(factor2D));
 }
 
 /* ************************************************************************* */
@@ -75,9 +75,9 @@ TEST(BearingFactor, 2D) {
 
 /* ************************************************************************* */
 TEST(BearingFactor, Serialization3D) {
-  EXPECT(serializationTestHelpers::equalsObj<BearingFactor3D>(factor3D));
+  EXPECT(serializationTestHelpers::equalsObj(factor3D));
-  EXPECT(serializationTestHelpers::equalsXML<BearingFactor3D>(factor3D));
+  EXPECT(serializationTestHelpers::equalsXML(factor3D));
-  EXPECT(serializationTestHelpers::equalsBinary<BearingFactor3D>(factor3D));
+  EXPECT(serializationTestHelpers::equalsBinary(factor3D));
 }
 
 /* ************************************************************************* */

gtsam/sam/tests/testBearingRangeFactor.cpp

@@ -28,7 +28,6 @@
 
 using namespace std;
 using namespace gtsam;
-using namespace serializationTestHelpers;
 
 Key poseKey(1);
 Key pointKey(2);
@@ -49,9 +48,9 @@ BOOST_CLASS_EXPORT(gtsam::noiseModel::Isotropic);
 
 /* ************************************************************************* */
 TEST(BearingRangeFactor, Serialization2D) {
-  EXPECT(equalsObj<BearingRangeFactor2D>(factor2D));
+  EXPECT(serializationTestHelpers::equalsObj(factor2D));
-  EXPECT(equalsXML<BearingRangeFactor2D>(factor2D));
+  EXPECT(serializationTestHelpers::equalsXML(factor2D));
-  EXPECT(equalsBinary<BearingRangeFactor2D>(factor2D));
+  EXPECT(serializationTestHelpers::equalsBinary(factor2D));
 }
 
 /* ************************************************************************* */
@@ -75,9 +74,9 @@ TEST(BearingRangeFactor, 2D) {
 
 /* ************************************************************************* */
 TEST(BearingRangeFactor, Serialization3D) {
-  EXPECT(equalsObj<BearingRangeFactor3D>(factor3D));
+  EXPECT(serializationTestHelpers::equalsObj(factor3D));
-  EXPECT(equalsXML<BearingRangeFactor3D>(factor3D));
+  EXPECT(serializationTestHelpers::equalsXML(factor3D));
-  EXPECT(equalsBinary<BearingRangeFactor3D>(factor3D));
+  EXPECT(serializationTestHelpers::equalsBinary(factor3D));
 }
 
 /* ************************************************************************* */

gtsam/sam/tests/testRangeFactor.cpp

@@ -18,10 +18,9 @@
 
 #include <gtsam/sam/RangeFactor.h>
 #include <gtsam/geometry/Pose3.h>
-#include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Pose2.h>
-#include <gtsam/geometry/Point2.h>
 #include <gtsam/base/numericalDerivative.h>
+#include <gtsam/base/serializationTestHelpers.h>
 #include <gtsam/base/TestableAssertions.h>
 
 #include <CppUnitLite/TestHarness.h>
@@ -38,6 +37,10 @@ typedef RangeFactor<Pose3, Point3> RangeFactor3D;
 typedef RangeFactorWithTransform<Pose2, Point2> RangeFactorWithTransform2D;
 typedef RangeFactorWithTransform<Pose3, Point3> RangeFactorWithTransform3D;
 
+Key poseKey(1);
+Key pointKey(2);
+double measurement(10.0);
+
 /* ************************************************************************* */
 Vector factorError2D(const Pose2& pose, const Point2& point,
     const RangeFactor2D& factor) {
@@ -64,19 +67,33 @@ Vector factorErrorWithTransform3D(const Pose3& pose, const Point3& point,
 
 /* ************************************************************************* */
 TEST( RangeFactor, Constructor) {
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
-
   RangeFactor2D factor2D(poseKey, pointKey, measurement, model);
   RangeFactor3D factor3D(poseKey, pointKey, measurement, model);
 }
 
+/* ************************************************************************* */
+// Export Noisemodels
+// See http://www.boost.org/doc/libs/1_32_0/libs/serialization/doc/special.html
+BOOST_CLASS_EXPORT(gtsam::noiseModel::Unit);
+
+/* ************************************************************************* */
+TEST(RangeFactor, Serialization2D) {
+  RangeFactor2D factor2D(poseKey, pointKey, measurement, model);
+  EXPECT(serializationTestHelpers::equalsObj(factor2D));
+  EXPECT(serializationTestHelpers::equalsXML(factor2D));
+  EXPECT(serializationTestHelpers::equalsBinary(factor2D));
+}
+
+/* ************************************************************************* */
+TEST(RangeFactor, Serialization3D) {
+  RangeFactor3D factor3D(poseKey, pointKey, measurement, model);
+  EXPECT(serializationTestHelpers::equalsObj(factor3D));
+  EXPECT(serializationTestHelpers::equalsXML(factor3D));
+  EXPECT(serializationTestHelpers::equalsBinary(factor3D));
+}
+
 /* ************************************************************************* */
 TEST( RangeFactor, ConstructorWithTransform) {
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
   Pose2 body_P_sensor_2D(0.25, -0.10, -M_PI_2);
   Pose3 body_P_sensor_3D(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
       Point3(0.25, -0.10, 1.0));
@@ -90,10 +107,6 @@ TEST( RangeFactor, ConstructorWithTransform) {
 /* ************************************************************************* */
 TEST( RangeFactor, Equals ) {
   // Create two identical factors and make sure they're equal
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
-
   RangeFactor2D factor2D_1(poseKey, pointKey, measurement, model);
   RangeFactor2D factor2D_2(poseKey, pointKey, measurement, model);
   CHECK(assert_equal(factor2D_1, factor2D_2));
@@ -106,9 +119,6 @@ TEST( RangeFactor, Equals ) {
 /* ************************************************************************* */
 TEST( RangeFactor, EqualsWithTransform ) {
   // Create two identical factors and make sure they're equal
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
   Pose2 body_P_sensor_2D(0.25, -0.10, -M_PI_2);
   Pose3 body_P_sensor_3D(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
       Point3(0.25, -0.10, 1.0));
@@ -129,9 +139,6 @@ TEST( RangeFactor, EqualsWithTransform ) {
 /* ************************************************************************* */
 TEST( RangeFactor, Error2D ) {
   // Create a factor
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
   RangeFactor2D factor(poseKey, pointKey, measurement, model);
 
   // Set the linearization point
@@ -151,9 +158,6 @@ TEST( RangeFactor, Error2D ) {
 /* ************************************************************************* */
 TEST( RangeFactor, Error2DWithTransform ) {
   // Create a factor
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
   Pose2 body_P_sensor(0.25, -0.10, -M_PI_2);
   RangeFactorWithTransform2D factor(poseKey, pointKey, measurement, model,
       body_P_sensor);
@@ -177,9 +181,6 @@ TEST( RangeFactor, Error2DWithTransform ) {
 /* ************************************************************************* */
 TEST( RangeFactor, Error3D ) {
   // Create a factor
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
   RangeFactor3D factor(poseKey, pointKey, measurement, model);
 
   // Set the linearization point
@@ -199,9 +200,6 @@ TEST( RangeFactor, Error3D ) {
 /* ************************************************************************* */
 TEST( RangeFactor, Error3DWithTransform ) {
   // Create a factor
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
   Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
       Point3(0.25, -0.10, 1.0));
   RangeFactorWithTransform3D factor(poseKey, pointKey, measurement, model,
@@ -226,9 +224,6 @@ TEST( RangeFactor, Error3DWithTransform ) {
 /* ************************************************************************* */
 TEST( RangeFactor, Jacobian2D ) {
   // Create a factor
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
   RangeFactor2D factor(poseKey, pointKey, measurement, model);
 
   // Set the linearization point
@@ -254,9 +249,6 @@ TEST( RangeFactor, Jacobian2D ) {
 /* ************************************************************************* */
 TEST( RangeFactor, Jacobian2DWithTransform ) {
   // Create a factor
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
   Pose2 body_P_sensor(0.25, -0.10, -M_PI_2);
   RangeFactorWithTransform2D factor(poseKey, pointKey, measurement, model,
       body_P_sensor);
@@ -286,9 +278,6 @@ TEST( RangeFactor, Jacobian2DWithTransform ) {
 /* ************************************************************************* */
 TEST( RangeFactor, Jacobian3D ) {
   // Create a factor
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
   RangeFactor3D factor(poseKey, pointKey, measurement, model);
 
   // Set the linearization point
@@ -314,9 +303,6 @@ TEST( RangeFactor, Jacobian3D ) {
 /* ************************************************************************* */
 TEST( RangeFactor, Jacobian3DWithTransform ) {
   // Create a factor
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
   Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
       Point3(0.25, -0.10, 1.0));
   RangeFactorWithTransform3D factor(poseKey, pointKey, measurement, model,
@@ -348,9 +334,6 @@ TEST( RangeFactor, Jacobian3DWithTransform ) {
 // Do a test with Point3
 TEST(RangeFactor, Point3) {
   // Create a factor
-  Key poseKey(1);
-  Key pointKey(2);
-  double measurement(10.0);
   RangeFactor<Point3> factor(poseKey, pointKey, measurement, model);
 
   // Set the linearization point