Fixed testIterative unit tests
Frank Dellaert
parent
b0508cc1a8
commit
c4c5dec9a3
354
.cproject
354
.cproject
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@ -309,14 +309,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -343,6 +335,7 @@
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</target>
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<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -350,6 +343,7 @@
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</target>
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<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testBinaryBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -397,6 +391,7 @@
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</target>
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<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNet.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -404,6 +399,7 @@
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</target>
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<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testSymbolicFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -411,6 +407,7 @@
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</target>
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<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicFactorGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -426,11 +423,20 @@
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</target>
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<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testBayesTree</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -519,22 +525,6 @@
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<useDefaultCommand>false</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -551,6 +541,22 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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@ -575,26 +581,26 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testValues.run</buildTarget>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testOrdering.run</buildTarget>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testKey.run</buildTarget>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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@ -679,26 +685,26 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>all</buildTarget>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testValues.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>check</buildTarget>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testOrdering.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>clean</buildTarget>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testKey.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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@ -985,6 +991,7 @@
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</target>
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<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testGraph.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -992,6 +999,7 @@
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</target>
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<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testJunctionTree.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -999,6 +1007,7 @@
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</target>
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<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSymbolicBayesNetB.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1028,6 +1037,30 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testIterative.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testIterative.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testSubgraphSolver.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testSubgraphSolver.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactorGraphB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testGaussianFactorGraphB.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="clean" path="build/wrap/gtsam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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@ -1134,6 +1167,7 @@
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</target>
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<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testErrors.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1179,10 +1213,10 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="testLinearContainerFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testLinearContainerFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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@ -1267,10 +1301,10 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testLinearContainerFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j5</buildArguments>
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<buildTarget>testLinearContainerFactor.run</buildTarget>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testGaussianFactor.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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@ -1605,7 +1639,6 @@
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</target>
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<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2DOriented.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1645,7 +1678,6 @@
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</target>
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<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated2D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1653,7 +1685,6 @@
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</target>
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<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>testSimulated3D.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1845,7 +1876,6 @@
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</target>
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<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments/>
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<buildTarget>tests/testGaussianISAM2</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>false</useDefaultCommand>
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@ -1867,102 +1897,6 @@
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testRot3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testRot2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testPose3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>timeRot3.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testPose2.run</buildTarget>
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<stopOnError>true</stopOnError>
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<useDefaultCommand>true</useDefaultCommand>
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<runAllBuilders>true</runAllBuilders>
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</target>
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<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
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<buildCommand>make</buildCommand>
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<buildArguments>-j2</buildArguments>
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<buildTarget>testCal3_S2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testSimpleCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testHomography2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testCalibratedCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPoint2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j1</buildArguments>
|
||||
|
|
@ -2164,6 +2098,7 @@
|
|||
</target>
|
||||
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>-G DEB</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2171,6 +2106,7 @@
|
|||
</target>
|
||||
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>-G RPM</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2178,6 +2114,7 @@
|
|||
</target>
|
||||
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>-G TGZ</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2185,6 +2122,7 @@
|
|||
</target>
|
||||
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>cpack</buildCommand>
|
||||
<buildArguments/>
|
||||
<buildTarget>--config CPackSourceConfig.cmake</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>false</useDefaultCommand>
|
||||
|
|
@ -2318,34 +2256,98 @@
|
|||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testSpirit.run</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testWrap.run</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testRot2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>check.wrap</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>wrap</buildTarget>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>timeRot3.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPose2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testCal3_S2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testSimpleCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testHomography2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testCalibratedCamera.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>check</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>clean</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j2</buildArguments>
|
||||
<buildTarget>testPoint2.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
|
|
@ -2389,6 +2391,38 @@
|
|||
<useDefaultCommand>false</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testSpirit.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="testWrap.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>testWrap.run</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>check.wrap</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
|
||||
<buildCommand>make</buildCommand>
|
||||
<buildArguments>-j5</buildArguments>
|
||||
<buildTarget>wrap</buildTarget>
|
||||
<stopOnError>true</stopOnError>
|
||||
<useDefaultCommand>true</useDefaultCommand>
|
||||
<runAllBuilders>true</runAllBuilders>
|
||||
</target>
|
||||
</buildTargets>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
|
|
|
|||
|
|
@ -101,7 +101,7 @@ boost::tuple<GaussianFactorGraph::shared_ptr, GaussianFactorGraph::shared_ptr>
|
|||
SubgraphSolver::splitGraph(const GaussianFactorGraph &jfg) {
|
||||
|
||||
const VariableIndex index(jfg);
|
||||
const size_t n = index.size(), m = jfg.size();
|
||||
const size_t n = index.size();
|
||||
DisjointSet D(n) ;
|
||||
|
||||
GaussianFactorGraph::shared_ptr At(new GaussianFactorGraph());
|
||||
|
|
|
|||
|
|
@ -138,9 +138,9 @@ namespace example {
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
FactorGraph<JacobianFactor> createGaussianFactorGraph(const Ordering& ordering) {
|
||||
GaussianFactorGraph createGaussianFactorGraph(const Ordering& ordering) {
|
||||
// Create empty graph
|
||||
FactorGraph<JacobianFactor> fg;
|
||||
GaussianFactorGraph fg;
|
||||
|
||||
SharedDiagonal unit2 = noiseModel::Unit::Create(2);
|
||||
|
||||
|
|
|
|||
|
|
@ -65,7 +65,7 @@ namespace gtsam {
|
|||
* create a linear factor graph
|
||||
* The non-linear graph above evaluated at NoisyValues
|
||||
*/
|
||||
FactorGraph<JacobianFactor> createGaussianFactorGraph(const Ordering& ordering);
|
||||
GaussianFactorGraph createGaussianFactorGraph(const Ordering& ordering);
|
||||
|
||||
/**
|
||||
* create small Chordal Bayes Net x <- y
|
||||
|
|
|
|||
|
|
@ -57,10 +57,11 @@ TEST( GaussianFactor, linearFactor )
|
|||
JacobianFactor expected(ordering[kx1], -10*I,ordering[kx2], 10*I, b, noiseModel::Unit::Create(2));
|
||||
|
||||
// create a small linear factor graph
|
||||
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
|
||||
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
|
||||
|
||||
// get the factor kf2 from the factor graph
|
||||
JacobianFactor::shared_ptr lf = fg[1];
|
||||
JacobianFactor::shared_ptr lf =
|
||||
boost::dynamic_pointer_cast<JacobianFactor>(fg[1]);
|
||||
|
||||
// check if the two factors are the same
|
||||
EXPECT(assert_equal(expected,*lf));
|
||||
|
|
@ -72,7 +73,7 @@ TEST( GaussianFactor, getDim )
|
|||
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
|
||||
// get a factor
|
||||
Ordering ordering; ordering += kx1,kx2,kl1;
|
||||
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
|
||||
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
|
||||
GaussianFactor::shared_ptr factor = fg[0];
|
||||
|
||||
// get the size of a variable
|
||||
|
|
@ -89,7 +90,7 @@ TEST( GaussianFactor, error )
|
|||
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
|
||||
// create a small linear factor graph
|
||||
Ordering ordering; ordering += kx1,kx2,kl1;
|
||||
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
|
||||
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
|
||||
|
||||
// get the first factor from the factor graph
|
||||
GaussianFactor::shared_ptr lf = fg[0];
|
||||
|
|
@ -109,7 +110,7 @@ TEST( GaussianFactor, matrix )
|
|||
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
|
||||
// create a small linear factor graph
|
||||
Ordering ordering; ordering += kx1,kx2,kl1;
|
||||
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
|
||||
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
|
||||
|
||||
// get the factor kf2 from the factor graph
|
||||
//GaussianFactor::shared_ptr lf = fg[1]; // NOTE: using the older version
|
||||
|
|
@ -158,7 +159,7 @@ TEST( GaussianFactor, matrix_aug )
|
|||
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
|
||||
// create a small linear factor graph
|
||||
Ordering ordering; ordering += kx1,kx2,kl1;
|
||||
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
|
||||
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
|
||||
|
||||
// get the factor kf2 from the factor graph
|
||||
//GaussianFactor::shared_ptr lf = fg[1];
|
||||
|
|
@ -210,7 +211,7 @@ TEST( GaussianFactor, size )
|
|||
// create a linear factor graph
|
||||
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
|
||||
Ordering ordering; ordering += kx1,kx2,kl1;
|
||||
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering);
|
||||
GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
|
||||
|
||||
// get some factors from the graph
|
||||
boost::shared_ptr<GaussianFactor> factor1 = fg[0];
|
||||
|
|
|
|||
|
|
@ -369,7 +369,7 @@ TEST( GaussianFactorGraph, multiplication )
|
|||
// create an ordering
|
||||
Ordering ord; ord += X(2),L(1),X(1);
|
||||
|
||||
FactorGraph<JacobianFactor> A = createGaussianFactorGraph(ord);
|
||||
GaussianFactorGraph A = createGaussianFactorGraph(ord);
|
||||
VectorValues x = createCorrectDelta(ord);
|
||||
Errors actual = A * x;
|
||||
Errors expected;
|
||||
|
|
@ -523,7 +523,7 @@ TEST(GaussianFactorGraph, hasConstraints)
|
|||
EXPECT(hasConstraints(fgc2));
|
||||
|
||||
Ordering ordering; ordering += X(1), X(2), L(1);
|
||||
FactorGraph<GaussianFactor> fg = createGaussianFactorGraph(ordering);
|
||||
GaussianFactorGraph fg = createGaussianFactorGraph(ordering);
|
||||
EXPECT(!hasConstraints(fg));
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -42,7 +42,7 @@ using symbol_shorthand::L;
|
|||
// Some numbers that should be consistent among all smoother tests
|
||||
|
||||
static double sigmax1 = 0.786153, sigmax2 = 1.0/1.47292, sigmax3 = 0.671512, sigmax4 =
|
||||
0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1;
|
||||
0.669534 /*, sigmax5 = sigmax3, sigmax6 = sigmax2*/, sigmax7 = sigmax1;
|
||||
|
||||
static const double tol = 1e-4;
|
||||
|
||||
|
|
|
|||
|
|
@ -16,13 +16,14 @@
|
|||
**/
|
||||
|
||||
#include <tests/smallExample.h>
|
||||
#include <gtsam/slam/PriorFactor.h>
|
||||
#include <gtsam/slam/BetweenFactor.h>
|
||||
#include <gtsam/nonlinear/NonlinearEquality.h>
|
||||
#include <gtsam/nonlinear/Ordering.h>
|
||||
#include <gtsam/nonlinear/Symbol.h>
|
||||
#include <gtsam/linear/GaussianSequentialSolver.h>
|
||||
//#include <gtsam/linear/VectorValues.h>
|
||||
//#include <gtsam/linear/SubgraphPreconditioner.h>
|
||||
#include <gtsam/linear/iterative-inl.h>
|
||||
//#include <gtsam/inference/FactorGraph-inl.h>
|
||||
#include <gtsam/linear/iterative.h>
|
||||
#include <gtsam/geometry/Pose2.h>
|
||||
|
||||
#include <CppUnitLite/TestHarness.h>
|
||||
|
||||
|
|
@ -32,23 +33,23 @@ using namespace example;
|
|||
using symbol_shorthand::X; // to create pose keys
|
||||
using symbol_shorthand::L; // to create landmark keys
|
||||
|
||||
static bool verbose = false;
|
||||
static ConjugateGradientParameters parameters;
|
||||
// add following below to add printing:
|
||||
// parameters.verbosity_ = ConjugateGradientParameters::COMPLEXITY;
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( Iterative, steepestDescent )
|
||||
{
|
||||
// Create factor graph
|
||||
Ordering ord;
|
||||
ord += L(1), X(1), X(2);
|
||||
FactorGraph<JacobianFactor> fg = createGaussianFactorGraph(ord);
|
||||
Ordering ordering;
|
||||
ordering += L(1), X(1), X(2);
|
||||
GaussianFactorGraph fg = createGaussianFactorGraph(ordering);
|
||||
|
||||
// eliminate and solve
|
||||
VectorValues expected = *GaussianSequentialSolver(fg).optimize();
|
||||
|
||||
// Do gradient descent
|
||||
VectorValues zero = VectorValues::Zero(expected); // TODO, how do we do this normally?
|
||||
ConjugateGradientParameters parameters;
|
||||
// parameters.verbosity_ = ConjugateGradientParameters::COMPLEXITY;
|
||||
VectorValues actual = steepestDescent(fg, zero, parameters);
|
||||
CHECK(assert_equal(expected,actual,1e-2));
|
||||
}
|
||||
|
|
@ -56,134 +57,93 @@ TEST( Iterative, steepestDescent )
|
|||
/* ************************************************************************* */
|
||||
TEST( Iterative, conjugateGradientDescent )
|
||||
{
|
||||
// // Expected solution
|
||||
// Ordering ord;
|
||||
// ord += L(1), X(1), X(2);
|
||||
// GaussianFactorGraph fg = createGaussianFactorGraph();
|
||||
// VectorValues expected = fg.optimize(ord); // destructive
|
||||
//
|
||||
// // create graph and get matrices
|
||||
// GaussianFactorGraph fg2 = createGaussianFactorGraph();
|
||||
// Matrix A;
|
||||
// Vector b;
|
||||
// Vector x0 = gtsam::zero(6);
|
||||
// boost::tie(A, b) = fg2.matrix(ord);
|
||||
// Vector expectedX = Vector_(6, -0.1, 0.1, -0.1, -0.1, 0.1, -0.2);
|
||||
//
|
||||
// // Do conjugate gradient descent, System version
|
||||
// System Ab(A, b);
|
||||
// Vector actualX = conjugateGradientDescent(Ab, x0, verbose);
|
||||
// CHECK(assert_equal(expectedX,actualX,1e-9));
|
||||
//
|
||||
// // Do conjugate gradient descent, Matrix version
|
||||
// Vector actualX2 = conjugateGradientDescent(A, b, x0, verbose);
|
||||
// CHECK(assert_equal(expectedX,actualX2,1e-9));
|
||||
//
|
||||
// // Do conjugate gradient descent on factor graph
|
||||
// VectorValues zero = createZeroDelta();
|
||||
// VectorValues actual = conjugateGradientDescent(fg2, zero, verbose);
|
||||
// CHECK(assert_equal(expected,actual,1e-2));
|
||||
//
|
||||
// // Test method
|
||||
// VectorValues actual2 = fg2.conjugateGradientDescent(zero, verbose);
|
||||
// CHECK(assert_equal(expected,actual2,1e-2));
|
||||
// Create factor graph
|
||||
Ordering ordering;
|
||||
ordering += L(1), X(1), X(2);
|
||||
GaussianFactorGraph fg = createGaussianFactorGraph(ordering);
|
||||
|
||||
// eliminate and solve
|
||||
VectorValues expected = *GaussianSequentialSolver(fg).optimize();
|
||||
|
||||
// get matrices
|
||||
Matrix A;
|
||||
Vector b;
|
||||
Vector x0 = gtsam::zero(6);
|
||||
boost::tie(A, b) = fg.jacobian();
|
||||
Vector expectedX = Vector_(6, -0.1, 0.1, -0.1, -0.1, 0.1, -0.2);
|
||||
|
||||
// Do conjugate gradient descent, System version
|
||||
System Ab(A, b);
|
||||
Vector actualX = conjugateGradientDescent(Ab, x0, parameters);
|
||||
CHECK(assert_equal(expectedX,actualX,1e-9));
|
||||
|
||||
// Do conjugate gradient descent, Matrix version
|
||||
Vector actualX2 = conjugateGradientDescent(A, b, x0, parameters);
|
||||
CHECK(assert_equal(expectedX,actualX2,1e-9));
|
||||
|
||||
// Do conjugate gradient descent on factor graph
|
||||
VectorValues zero = VectorValues::Zero(expected);
|
||||
VectorValues actual = conjugateGradientDescent(fg, zero, parameters);
|
||||
CHECK(assert_equal(expected,actual,1e-2));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
/*TEST( Iterative, conjugateGradientDescent_hard_constraint )
|
||||
TEST( Iterative, conjugateGradientDescent_hard_constraint )
|
||||
{
|
||||
typedef Pose2Values::Key Key;
|
||||
Values config;
|
||||
Pose2 pose1 = Pose2(0.,0.,0.);
|
||||
config.insert(X(1), pose1);
|
||||
config.insert(X(2), Pose2(1.5,0.,0.));
|
||||
|
||||
Pose2Values config;
|
||||
config.insert(1, Pose2(0.,0.,0.));
|
||||
config.insert(2, Pose2(1.5,0.,0.));
|
||||
NonlinearFactorGraph graph;
|
||||
graph.add(NonlinearEquality<Pose2>(X(1), pose1));
|
||||
graph.add(BetweenFactor<Pose2>(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)));
|
||||
|
||||
Pose2Graph graph;
|
||||
Matrix cov = eye(3);
|
||||
graph.push_back(Pose2Graph::sharedFactor(new Pose2Factor(Key(1), Key(2), Pose2(1.,0.,0.), cov)));
|
||||
graph.addHardConstraint(1, config[1]);
|
||||
Ordering ordering;
|
||||
ordering += X(1), X(2);
|
||||
boost::shared_ptr<GaussianFactorGraph> fg = graph.linearize(config,ordering);
|
||||
|
||||
VectorValues zeros;
|
||||
zeros.insert(X(1),zero(3));
|
||||
zeros.insert(X(2),zero(3));
|
||||
VectorValues zeros = VectorValues::Zero(2, 3);
|
||||
|
||||
GaussianFactorGraph fg = graph.linearize(config);
|
||||
VectorValues actual = conjugateGradientDescent(fg, zeros, true, 1e-3, 1e-5, 10);
|
||||
ConjugateGradientParameters parameters;
|
||||
parameters.setEpsilon_abs(1e-3);
|
||||
parameters.setEpsilon_rel(1e-5);
|
||||
parameters.setMaxIterations(100);
|
||||
VectorValues actual = conjugateGradientDescent(*fg, zeros, parameters);
|
||||
|
||||
VectorValues expected;
|
||||
expected.insert(X(1), zero(3));
|
||||
expected.insert(X(2), Vector_(-0.5,0.,0.));
|
||||
CHECK(assert_equal(expected, actual));
|
||||
}*/
|
||||
VectorValues expected;
|
||||
expected.insert(0, zero(3));
|
||||
expected.insert(1, Vector_(3,-0.5,0.,0.));
|
||||
CHECK(assert_equal(expected, actual));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( Iterative, conjugateGradientDescent_soft_constraint )
|
||||
{
|
||||
// Pose2Values config;
|
||||
// config.insert(1, Pose2(0.,0.,0.));
|
||||
// config.insert(2, Pose2(1.5,0.,0.));
|
||||
//
|
||||
// Pose2Graph 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));
|
||||
//
|
||||
// VectorValues zeros;
|
||||
// zeros.insert(X(1),zero(3));
|
||||
// zeros.insert(X(2),zero(3));
|
||||
//
|
||||
// boost::shared_ptr<GaussianFactorGraph> fg = graph.linearize(config);
|
||||
// VectorValues actual = conjugateGradientDescent(*fg, zeros, verbose, 1e-3, 1e-5, 100);
|
||||
//
|
||||
// VectorValues expected;
|
||||
// expected.insert(X(1), zero(3));
|
||||
// expected.insert(X(2), Vector_(3,-0.5,0.,0.));
|
||||
// CHECK(assert_equal(expected, actual));
|
||||
}
|
||||
Values config;
|
||||
config.insert(X(1), Pose2(0.,0.,0.));
|
||||
config.insert(X(2), Pose2(1.5,0.,0.));
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( Iterative, subgraphPCG )
|
||||
{
|
||||
// typedef Pose2Values::Key Key;
|
||||
//
|
||||
// Pose2Values theta_bar;
|
||||
// theta_bar.insert(1, Pose2(0.,0.,0.));
|
||||
// theta_bar.insert(2, Pose2(1.5,0.,0.));
|
||||
//
|
||||
// Pose2Graph 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));
|
||||
//
|
||||
// // generate spanning tree and create ordering
|
||||
// PredecessorMap<Key> tree = graph.findMinimumSpanningTree<Key, Pose2Factor>();
|
||||
// list<Key> keys = predecessorMap2Keys(tree);
|
||||
// list<Symbol> symbols;
|
||||
// symbols.resize(keys.size());
|
||||
// std::transform(keys.begin(), keys.end(), symbols.begin(), key2symbol<Key>);
|
||||
// Ordering ordering(symbols);
|
||||
//
|
||||
// Key root = keys.back();
|
||||
// Pose2Graph T, C;
|
||||
// graph.split<Key, Pose2Factor>(tree, T, C);
|
||||
//
|
||||
// // build the subgraph PCG system
|
||||
// boost::shared_ptr<GaussianFactorGraph> Ab1_ = T.linearize(theta_bar);
|
||||
// SubgraphPreconditioner::sharedFG Ab1 = T.linearize(theta_bar);
|
||||
// SubgraphPreconditioner::sharedFG Ab2 = C.linearize(theta_bar);
|
||||
// SubgraphPreconditioner::sharedBayesNet Rc1 = Ab1_->eliminate_(ordering);
|
||||
// SubgraphPreconditioner::sharedValues xbar = optimize_(*Rc1);
|
||||
// SubgraphPreconditioner system(Ab1, Ab2, Rc1, xbar);
|
||||
//
|
||||
// VectorValues zeros = VectorValues::zero(*xbar);
|
||||
//
|
||||
// // Solve the subgraph PCG
|
||||
// VectorValues ybar = conjugateGradients<SubgraphPreconditioner, VectorValues,
|
||||
// Errors> (system, zeros, verbose, 1e-5, 1e-5, 100);
|
||||
// VectorValues actual = system.x(ybar);
|
||||
//
|
||||
// VectorValues expected;
|
||||
// expected.insert(X(1), zero(3));
|
||||
// expected.insert(X(2), Vector_(3, -0.5, 0., 0.));
|
||||
// CHECK(assert_equal(expected, actual));
|
||||
NonlinearFactorGraph graph;
|
||||
graph.add(PriorFactor<Pose2>(X(1), Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)));
|
||||
graph.add(BetweenFactor<Pose2>(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)));
|
||||
|
||||
Ordering ordering;
|
||||
ordering += X(1), X(2);
|
||||
boost::shared_ptr<GaussianFactorGraph> fg = graph.linearize(config,ordering);
|
||||
|
||||
VectorValues zeros = VectorValues::Zero(2, 3);
|
||||
|
||||
ConjugateGradientParameters parameters;
|
||||
parameters.setEpsilon_abs(1e-3);
|
||||
parameters.setEpsilon_rel(1e-5);
|
||||
parameters.setMaxIterations(100);
|
||||
VectorValues actual = conjugateGradientDescent(*fg, zeros, parameters);
|
||||
|
||||
VectorValues expected;
|
||||
expected.insert(0, zero(3));
|
||||
expected.insert(1, Vector_(3,-0.5,0.,0.));
|
||||
CHECK(assert_equal(expected, actual));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
Loading…
Reference in New Issue