Moved test here from gtsam_experimental, as now works

tests/matlab/CHECK.m

@@ -0,0 +1,5 @@
+function CHECK(name,assertion)
+
+if (assertion~=1)
+  error(['CHECK ' name ' fails']);
+end

tests/matlab/testJacobianFactor.m

@@ -0,0 +1,75 @@
+%-----------------------------------------------------------------------
+% eliminate
+
+% the combined linear factor
+Ax2 = [
+-5., 0.
++0.,-5.
+10., 0.
++0.,10.
+];
+
+Al1 = [
+5., 0.
+0., 5.
+0., 0.
+0., 0.
+];
+
+Ax1 = [
+0.00,  0. % f4
+0.00,  0. % f4
+-10.,  0. % f2
+0.00,-10. % f2
+];
+
+x2 = 1;
+l1 = 2;
+x1 = 3;
+
+% the RHS
+b2=[-1;1.5;2;-1];
+model4 = SharedDiagonal([1;1;1;1]);
+combined = JacobianFactor(x2, Ax2,  l1, Al1, x1, Ax1, b2, model4);
+
+% eliminate the first variable (x2) in the combined factor, destructive !
+actualCG = combined.eliminateFirst();
+
+% create expected Conditional Gaussian
+R11 = [
+11.1803,  0.00
+0.00, 11.1803
+];
+S12 = [
+-2.23607, 0.00
++0.00,-2.23607
+];
+S13 = [
+-8.94427, 0.00
++0.00,-8.94427
+];
+d=[2.23607;-1.56525];
+expectedCG = GaussianConditional(x2,d,R11,l1,S12,x1,S13,[1;1]);
+% check if the result matches
+CHECK('actualCG.equals(expectedCG,1e-5)',actualCG.equals(expectedCG,1e-4));
+
+% the expected linear factor
+Bl1 = [
+4.47214, 0.00
+0.00, 4.47214
+];
+
+Bx1 = [
+% x1
+-4.47214,  0.00
++0.00, -4.47214
+];
+
+% the RHS
+b1= [0.0;0.894427];
+
+model2 = SharedDiagonal([1;1]);
+expectedLF = JacobianFactor(l1, Bl1, x1, Bx1, b1, model2);
+
+% check if the result matches the combined (reduced) factor
+CHECK('combined.equals(expectedLF,1e-5)',combined.equals(expectedLF,1e-4));