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Fixed testIterative unit tests

release/4.3a0
Frank Dellaert 2012-09-05 03:06:22 +00:00
parent b0508cc1a8
commit c4c5dec9a3
8 changed files with 293 additions and 298 deletions
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354
.cproject
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@ -309,14 +309,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -343,6 +335,7 @@
</target> </target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget> <buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -350,6 +343,7 @@
</target> </target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget> <buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -397,6 +391,7 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -404,6 +399,7 @@
</target> </target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget> <buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -411,6 +407,7 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -426,11 +423,20 @@
</target> </target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget> <buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
@ -519,22 +525,6 @@
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="CppUnitLite" 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="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -551,6 +541,22 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>all</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="CppUnitLite" 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="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -575,26 +581,26 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testValues.run</buildTarget> <buildTarget>all</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testOrdering.run</buildTarget> <buildTarget>check</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testKey.run</buildTarget> <buildTarget>clean</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -679,26 +685,26 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>all</buildTarget> <buildTarget>testValues.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>check</buildTarget> <buildTarget>testOrdering.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testKey.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>clean</buildTarget> <buildTarget>testKey.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -985,6 +991,7 @@
</target> </target>
<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget> <buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -992,6 +999,7 @@
</target> </target>
<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget> <buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -999,6 +1007,7 @@
</target> </target>
<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNetB.run</buildTarget> <buildTarget>testSymbolicBayesNetB.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1028,6 +1037,30 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testIterative.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testIterative.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSubgraphSolver.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testSubgraphSolver.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testGaussianFactorGraphB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testGaussianFactorGraphB.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="clean" path="build/wrap/gtsam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="clean" path="build/wrap/gtsam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
@ -1134,6 +1167,7 @@
</target> </target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget> <buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1179,10 +1213,10 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testLinearContainerFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j5</buildArguments>
<buildTarget>testGaussianFactor.run</buildTarget> <buildTarget>testLinearContainerFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -1267,10 +1301,10 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testLinearContainerFactor.run" path="build/gtsam_unstable/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGaussianFactor.run" path="build/linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testLinearContainerFactor.run</buildTarget> <buildTarget>testGaussianFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -1605,7 +1639,6 @@
</target> </target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget> <buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1645,7 +1678,6 @@
</target> </target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget> <buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1653,7 +1685,6 @@
</target> </target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget> <buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1845,7 +1876,6 @@
</target> </target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget> <buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1867,102 +1897,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testRot3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testRot2.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments>
<buildTarget>testPose3.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<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>
</target>
<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j1</buildArguments> <buildArguments>-j1</buildArguments>
@ -2164,6 +2098,7 @@
</target> </target>
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G DEB</buildTarget> <buildTarget>-G DEB</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2171,6 +2106,7 @@
</target> </target>
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G RPM</buildTarget> <buildTarget>-G RPM</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2178,6 +2114,7 @@
</target> </target>
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G TGZ</buildTarget> <buildTarget>-G TGZ</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2185,6 +2122,7 @@
</target> </target>
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>--config CPackSourceConfig.cmake</buildTarget> <buildTarget>--config CPackSourceConfig.cmake</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2318,34 +2256,98 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </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> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testSpirit.run</buildTarget> <buildTarget>testRot3.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </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> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>testWrap.run</buildTarget> <buildTarget>testRot2.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </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> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>check.wrap</buildTarget> <buildTarget>testPose3.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </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> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j2</buildArguments>
<buildTarget>wrap</buildTarget> <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> <stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
@ -2389,6 +2391,38 @@
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </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> </buildTargets>
</storageModule> </storageModule>
</cproject> </cproject>

2
gtsam/linear/SubgraphSolver.cpp
View File

@ -101,7 +101,7 @@ boost::tuple<GaussianFactorGraph::shared_ptr, GaussianFactorGraph::shared_ptr>
SubgraphSolver::splitGraph(const GaussianFactorGraph &jfg) { SubgraphSolver::splitGraph(const GaussianFactorGraph &jfg) {
const VariableIndex index(jfg); const VariableIndex index(jfg);
const size_t n = index.size(), m = jfg.size(); const size_t n = index.size();
DisjointSet D(n) ; DisjointSet D(n) ;
GaussianFactorGraph::shared_ptr At(new GaussianFactorGraph()); GaussianFactorGraph::shared_ptr At(new GaussianFactorGraph());

4
tests/smallExample.cpp
View File

@ -138,9 +138,9 @@ namespace example {
} }
/* ************************************************************************* */ /* ************************************************************************* */
FactorGraph<JacobianFactor> createGaussianFactorGraph(const Ordering& ordering) { GaussianFactorGraph createGaussianFactorGraph(const Ordering& ordering) {
// Create empty graph // Create empty graph
FactorGraph<JacobianFactor> fg; GaussianFactorGraph fg;
SharedDiagonal unit2 = noiseModel::Unit::Create(2); SharedDiagonal unit2 = noiseModel::Unit::Create(2);

2
tests/smallExample.h
View File

@ -65,7 +65,7 @@ namespace gtsam {
* create a linear factor graph * create a linear factor graph
* The non-linear graph above evaluated at NoisyValues * 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 * create small Chordal Bayes Net x <- y

15
tests/testGaussianFactor.cpp
View File

@ -57,10 +57,11 @@ TEST( GaussianFactor, linearFactor )
JacobianFactor expected(ordering[kx1], -10*I,ordering[kx2], 10*I, b, noiseModel::Unit::Create(2)); JacobianFactor expected(ordering[kx1], -10*I,ordering[kx2], 10*I, b, noiseModel::Unit::Create(2));
// create a small linear factor graph // 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 // 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 // check if the two factors are the same
EXPECT(assert_equal(expected,*lf)); EXPECT(assert_equal(expected,*lf));
@ -72,7 +73,7 @@ TEST( GaussianFactor, getDim )
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
// get a factor // get a factor
Ordering ordering; ordering += kx1,kx2,kl1; Ordering ordering; ordering += kx1,kx2,kl1;
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering); GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
GaussianFactor::shared_ptr factor = fg[0]; GaussianFactor::shared_ptr factor = fg[0];
// get the size of a variable // get the size of a variable
@ -89,7 +90,7 @@ TEST( GaussianFactor, error )
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
// create a small linear factor graph // create a small linear factor graph
Ordering ordering; ordering += kx1,kx2,kl1; 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 // get the first factor from the factor graph
GaussianFactor::shared_ptr lf = fg[0]; GaussianFactor::shared_ptr lf = fg[0];
@ -109,7 +110,7 @@ TEST( GaussianFactor, matrix )
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
// create a small linear factor graph // create a small linear factor graph
Ordering ordering; ordering += kx1,kx2,kl1; 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 // get the factor kf2 from the factor graph
//GaussianFactor::shared_ptr lf = fg[1]; // NOTE: using the older version //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); const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
// create a small linear factor graph // create a small linear factor graph
Ordering ordering; ordering += kx1,kx2,kl1; 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 // get the factor kf2 from the factor graph
//GaussianFactor::shared_ptr lf = fg[1]; //GaussianFactor::shared_ptr lf = fg[1];
@ -210,7 +211,7 @@ TEST( GaussianFactor, size )
// create a linear factor graph // create a linear factor graph
const Key kx1 = X(1), kx2 = X(2), kl1 = L(1); const Key kx1 = X(1), kx2 = X(2), kl1 = L(1);
Ordering ordering; ordering += kx1,kx2,kl1; Ordering ordering; ordering += kx1,kx2,kl1;
FactorGraph<JacobianFactor> fg = example::createGaussianFactorGraph(ordering); GaussianFactorGraph fg = example::createGaussianFactorGraph(ordering);
// get some factors from the graph // get some factors from the graph
boost::shared_ptr<GaussianFactor> factor1 = fg[0]; boost::shared_ptr<GaussianFactor> factor1 = fg[0];

4
tests/testGaussianFactorGraphB.cpp
View File

@ -369,7 +369,7 @@ TEST( GaussianFactorGraph, multiplication )
// create an ordering // create an ordering
Ordering ord; ord += X(2),L(1),X(1); Ordering ord; ord += X(2),L(1),X(1);
FactorGraph<JacobianFactor> A = createGaussianFactorGraph(ord); GaussianFactorGraph A = createGaussianFactorGraph(ord);
VectorValues x = createCorrectDelta(ord); VectorValues x = createCorrectDelta(ord);
Errors actual = A * x; Errors actual = A * x;
Errors expected; Errors expected;
@ -523,7 +523,7 @@ TEST(GaussianFactorGraph, hasConstraints)
EXPECT(hasConstraints(fgc2)); EXPECT(hasConstraints(fgc2));
Ordering ordering; ordering += X(1), X(2), L(1); Ordering ordering; ordering += X(1), X(2), L(1);
FactorGraph<GaussianFactor> fg = createGaussianFactorGraph(ordering); GaussianFactorGraph fg = createGaussianFactorGraph(ordering);
EXPECT(!hasConstraints(fg)); EXPECT(!hasConstraints(fg));
} }

2
tests/testGaussianISAM.cpp
View File

@ -42,7 +42,7 @@ using symbol_shorthand::L;
// Some numbers that should be consistent among all smoother tests // Some numbers that should be consistent among all smoother tests
static double sigmax1 = 0.786153, sigmax2 = 1.0/1.47292, sigmax3 = 0.671512, sigmax4 = 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; static const double tol = 1e-4;

208
tests/testIterative.cpp
View File

@ -16,13 +16,14 @@
**/ **/
#include <tests/smallExample.h> #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/Ordering.h>
#include <gtsam/nonlinear/Symbol.h> #include <gtsam/nonlinear/Symbol.h>
#include <gtsam/linear/GaussianSequentialSolver.h> #include <gtsam/linear/GaussianSequentialSolver.h>
//#include <gtsam/linear/VectorValues.h> #include <gtsam/linear/iterative.h>
//#include <gtsam/linear/SubgraphPreconditioner.h> #include <gtsam/geometry/Pose2.h>
#include <gtsam/linear/iterative-inl.h>
//#include <gtsam/inference/FactorGraph-inl.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
@ -32,23 +33,23 @@ using namespace example;
using symbol_shorthand::X; // to create pose keys using symbol_shorthand::X; // to create pose keys
using symbol_shorthand::L; // to create landmark 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 ) TEST( Iterative, steepestDescent )
{ {
// Create factor graph // Create factor graph
Ordering ord; Ordering ordering;
ord += L(1), X(1), X(2); ordering += L(1), X(1), X(2);
FactorGraph<JacobianFactor> fg = createGaussianFactorGraph(ord); GaussianFactorGraph fg = createGaussianFactorGraph(ordering);
// eliminate and solve // eliminate and solve
VectorValues expected = *GaussianSequentialSolver(fg).optimize(); VectorValues expected = *GaussianSequentialSolver(fg).optimize();
// Do gradient descent // Do gradient descent
VectorValues zero = VectorValues::Zero(expected); // TODO, how do we do this normally? VectorValues zero = VectorValues::Zero(expected); // TODO, how do we do this normally?
ConjugateGradientParameters parameters;
// parameters.verbosity_ = ConjugateGradientParameters::COMPLEXITY;
VectorValues actual = steepestDescent(fg, zero, parameters); VectorValues actual = steepestDescent(fg, zero, parameters);
CHECK(assert_equal(expected,actual,1e-2)); CHECK(assert_equal(expected,actual,1e-2));
} }
@ -56,134 +57,93 @@ TEST( Iterative, steepestDescent )
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Iterative, conjugateGradientDescent ) TEST( Iterative, conjugateGradientDescent )
{ {
// // Expected solution // Create factor graph
// Ordering ord; Ordering ordering;
// ord += L(1), X(1), X(2); ordering += L(1), X(1), X(2);
// GaussianFactorGraph fg = createGaussianFactorGraph(); GaussianFactorGraph fg = createGaussianFactorGraph(ordering);
// VectorValues expected = fg.optimize(ord); // destructive
// // eliminate and solve
// // create graph and get matrices VectorValues expected = *GaussianSequentialSolver(fg).optimize();
// GaussianFactorGraph fg2 = createGaussianFactorGraph();
// Matrix A; // get matrices
// Vector b; Matrix A;
// Vector x0 = gtsam::zero(6); Vector b;
// boost::tie(A, b) = fg2.matrix(ord); Vector x0 = gtsam::zero(6);
// Vector expectedX = Vector_(6, -0.1, 0.1, -0.1, -0.1, 0.1, -0.2); 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); // Do conjugate gradient descent, System version
// Vector actualX = conjugateGradientDescent(Ab, x0, verbose); System Ab(A, b);
// CHECK(assert_equal(expectedX,actualX,1e-9)); 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, verbose); // Do conjugate gradient descent, Matrix version
// CHECK(assert_equal(expectedX,actualX2,1e-9)); Vector actualX2 = conjugateGradientDescent(A, b, x0, parameters);
// CHECK(assert_equal(expectedX,actualX2,1e-9));
// // Do conjugate gradient descent on factor graph
// VectorValues zero = createZeroDelta(); // Do conjugate gradient descent on factor graph
// VectorValues actual = conjugateGradientDescent(fg2, zero, verbose); VectorValues zero = VectorValues::Zero(expected);
// CHECK(assert_equal(expected,actual,1e-2)); VectorValues actual = conjugateGradientDescent(fg, zero, parameters);
// CHECK(assert_equal(expected,actual,1e-2));
// // Test method
// VectorValues actual2 = fg2.conjugateGradientDescent(zero, verbose);
// CHECK(assert_equal(expected,actual2,1e-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; NonlinearFactorGraph graph;
config.insert(1, Pose2(0.,0.,0.)); graph.add(NonlinearEquality<Pose2>(X(1), pose1));
config.insert(2, Pose2(1.5,0.,0.)); graph.add(BetweenFactor<Pose2>(X(1),X(2), Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)));
Pose2Graph graph; Ordering ordering;
Matrix cov = eye(3); ordering += X(1), X(2);
graph.push_back(Pose2Graph::sharedFactor(new Pose2Factor(Key(1), Key(2), Pose2(1.,0.,0.), cov))); boost::shared_ptr<GaussianFactorGraph> fg = graph.linearize(config,ordering);
graph.addHardConstraint(1, config[1]);
VectorValues zeros; VectorValues zeros = VectorValues::Zero(2, 3);
zeros.insert(X(1),zero(3));
zeros.insert(X(2),zero(3));
GaussianFactorGraph fg = graph.linearize(config); ConjugateGradientParameters parameters;
VectorValues actual = conjugateGradientDescent(fg, zeros, true, 1e-3, 1e-5, 10); parameters.setEpsilon_abs(1e-3);
parameters.setEpsilon_rel(1e-5);
parameters.setMaxIterations(100);
VectorValues actual = conjugateGradientDescent(*fg, zeros, parameters);
VectorValues expected; VectorValues expected;
expected.insert(X(1), zero(3)); expected.insert(0, zero(3));
expected.insert(X(2), Vector_(-0.5,0.,0.)); expected.insert(1, Vector_(3,-0.5,0.,0.));
CHECK(assert_equal(expected, actual)); CHECK(assert_equal(expected, actual));
}*/ }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Iterative, conjugateGradientDescent_soft_constraint ) TEST( Iterative, conjugateGradientDescent_soft_constraint )
{ {
// Pose2Values config; Values config;
// config.insert(1, Pose2(0.,0.,0.)); config.insert(X(1), Pose2(0.,0.,0.));
// config.insert(2, Pose2(1.5,0.,0.)); config.insert(X(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));
}
/* ************************************************************************* */ NonlinearFactorGraph graph;
TEST( Iterative, subgraphPCG ) 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)));
// typedef Pose2Values::Key Key;
// Ordering ordering;
// Pose2Values theta_bar; ordering += X(1), X(2);
// theta_bar.insert(1, Pose2(0.,0.,0.)); boost::shared_ptr<GaussianFactorGraph> fg = graph.linearize(config,ordering);
// theta_bar.insert(2, Pose2(1.5,0.,0.));
// VectorValues zeros = VectorValues::Zero(2, 3);
// Pose2Graph graph;
// graph.addPrior(1, Pose2(0.,0.,0.), noiseModel::Isotropic::Sigma(3, 1e-10)); ConjugateGradientParameters parameters;
// graph.addConstraint(1,2, Pose2(1.,0.,0.), noiseModel::Isotropic::Sigma(3, 1)); parameters.setEpsilon_abs(1e-3);
// parameters.setEpsilon_rel(1e-5);
// // generate spanning tree and create ordering parameters.setMaxIterations(100);
// PredecessorMap<Key> tree = graph.findMinimumSpanningTree<Key, Pose2Factor>(); VectorValues actual = conjugateGradientDescent(*fg, zeros, parameters);
// list<Key> keys = predecessorMap2Keys(tree);
// list<Symbol> symbols; VectorValues expected;
// symbols.resize(keys.size()); expected.insert(0, zero(3));
// std::transform(keys.begin(), keys.end(), symbols.begin(), key2symbol<Key>); expected.insert(1, Vector_(3,-0.5,0.,0.));
// Ordering ordering(symbols); CHECK(assert_equal(expected, actual));
//
// 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));
} }
/* ************************************************************************* */ /* ************************************************************************* */