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Made global variables and functions in unit tests static to avoid duplicate symbols when linking all tests together

release/4.3a0
Richard Roberts 2012-06-21 01:20:04 +00:00
parent 30525529c9
commit d0c193e403
15 changed files with 61 additions and 61 deletions
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4
gtsam/base/TestableAssertions.h
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@ -30,7 +30,7 @@ namespace gtsam {
/** /**
* Equals testing for basic types * Equals testing for basic types
*/ */
bool assert_equal(const Index& expected, const Index& actual, double tol = 0.0) { static bool assert_equal(const Index& expected, const Index& actual, double tol = 0.0) {
if(expected != actual) { if(expected != actual) {
std::cout << "Not equal:\nexpected: " << expected << "\nactual: " << actual << std::endl; std::cout << "Not equal:\nexpected: " << expected << "\nactual: " << actual << std::endl;
return false; return false;
@ -327,7 +327,7 @@ bool assert_container_equality(const V& expected, const V& actual) {
/** /**
* Compare strings for unit tests * Compare strings for unit tests
*/ */
bool assert_equal(const std::string& expected, const std::string& actual) { static bool assert_equal(const std::string& expected, const std::string& actual) {
if (expected == actual) if (expected == actual)
return true; return true;
printf("Not equal:\n"); printf("Not equal:\n");

4
gtsam/geometry/tests/testCal3Bundler.cpp
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@ -25,8 +25,8 @@ using namespace gtsam;
GTSAM_CONCEPT_TESTABLE_INST(Cal3Bundler) GTSAM_CONCEPT_TESTABLE_INST(Cal3Bundler)
GTSAM_CONCEPT_MANIFOLD_INST(Cal3Bundler) GTSAM_CONCEPT_MANIFOLD_INST(Cal3Bundler)
Cal3Bundler K(500, 1e-3, 1e-3); static Cal3Bundler K(500, 1e-3, 1e-3);
Point2 p(2,3); static Point2 p(2,3);
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Cal3Bundler, calibrate) TEST( Cal3Bundler, calibrate)

4
gtsam/geometry/tests/testCal3DS2.cpp
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@ -25,8 +25,8 @@ using namespace gtsam;
GTSAM_CONCEPT_TESTABLE_INST(Cal3DS2) GTSAM_CONCEPT_TESTABLE_INST(Cal3DS2)
GTSAM_CONCEPT_MANIFOLD_INST(Cal3DS2) GTSAM_CONCEPT_MANIFOLD_INST(Cal3DS2)
Cal3DS2 K(500, 100, 0.1, 320, 240, 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3); static Cal3DS2 K(500, 100, 0.1, 320, 240, 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3);
Point2 p(2,3); static Point2 p(2,3);
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Cal3DS2, calibrate) TEST( Cal3DS2, calibrate)

14
gtsam/geometry/tests/testCalibratedCamera.cpp
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@ -27,19 +27,19 @@ using namespace gtsam;
GTSAM_CONCEPT_MANIFOLD_INST(CalibratedCamera) GTSAM_CONCEPT_MANIFOLD_INST(CalibratedCamera)
const Pose3 pose1(Matrix_(3,3, static const Pose3 pose1(Matrix_(3,3,
1., 0., 0., 1., 0., 0.,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.
), ),
Point3(0,0,0.5)); Point3(0,0,0.5));
const CalibratedCamera camera(pose1); static const CalibratedCamera camera(pose1);
const Point3 point1(-0.08,-0.08, 0.0); static const Point3 point1(-0.08,-0.08, 0.0);
const Point3 point2(-0.08, 0.08, 0.0); static const Point3 point2(-0.08, 0.08, 0.0);
const Point3 point3( 0.08, 0.08, 0.0); static const Point3 point3( 0.08, 0.08, 0.0);
const Point3 point4( 0.08,-0.08, 0.0); static const Point3 point4( 0.08,-0.08, 0.0);
/* ************************************************************************* */ /* ************************************************************************* */
TEST( CalibratedCamera, constructor) TEST( CalibratedCamera, constructor)
@ -95,7 +95,7 @@ TEST( CalibratedCamera, Dproject_to_camera1) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
Point2 project2(const Pose3& pose, const Point3& point) { static Point2 project2(const Pose3& pose, const Point3& point) {
return CalibratedCamera(pose).project(point); return CalibratedCamera(pose).project(point);
} }

8
gtsam/geometry/tests/testFundamental.cpp
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@ -34,11 +34,11 @@ using namespace tensors;
/* ************************************************************************* */ /* ************************************************************************* */
// Indices // Indices
tensors::Index<3, 'a'> a; static tensors::Index<3, 'a'> a;
tensors::Index<3, 'b'> b; static tensors::Index<3, 'b'> b;
tensors::Index<4, 'A'> A; static tensors::Index<4, 'A'> A;
tensors::Index<4, 'B'> B; static tensors::Index<4, 'B'> B;
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Tensors, FundamentalMatrix) TEST( Tensors, FundamentalMatrix)

6
gtsam/geometry/tests/testHomography2.cpp
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@ -36,9 +36,9 @@ using namespace tensors;
/* ************************************************************************* */ /* ************************************************************************* */
// Indices // Indices
tensors::Index<3, 'a'> a, _a; static tensors::Index<3, 'a'> a, _a;
tensors::Index<3, 'b'> b, _b; static tensors::Index<3, 'b'> b, _b;
tensors::Index<3, 'c'> c, _c; static tensors::Index<3, 'c'> c, _c;
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Homography2, RealImages) TEST( Homography2, RealImages)

2
gtsam/geometry/tests/testPoint3.cpp
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@ -23,7 +23,7 @@ using namespace gtsam;
GTSAM_CONCEPT_TESTABLE_INST(Point3) GTSAM_CONCEPT_TESTABLE_INST(Point3)
GTSAM_CONCEPT_LIE_INST(Point3) GTSAM_CONCEPT_LIE_INST(Point3)
Point3 P(0.2,0.7,-2); static Point3 P(0.2,0.7,-2);
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Point3, Lie) { TEST(Point3, Lie) {

6
gtsam/geometry/tests/testPose2.cpp
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@ -156,7 +156,7 @@ TEST(Pose3, expmap_c)
#endif #endif
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Pose3, expmap_c_full) TEST(Pose2, expmap_c_full)
{ {
double w=0.3; double w=0.3;
Vector xi = Vector_(3, 0.0, w, w); Vector xi = Vector_(3, 0.0, w, w);
@ -191,7 +191,7 @@ TEST(Pose2, logmap_full) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
Point2 transform_to_proxy(const Pose2& pose, const Point2& point) { static Point2 transform_to_proxy(const Pose2& pose, const Point2& point) {
return pose.transform_to(point); return pose.transform_to(point);
} }
@ -220,7 +220,7 @@ TEST( Pose2, transform_to )
} }
/* ************************************************************************* */ /* ************************************************************************* */
Point2 transform_from_proxy(const Pose2& pose, const Point2& point) { static Point2 transform_from_proxy(const Pose2& pose, const Point2& point) {
return pose.transform_from(point); return pose.transform_from(point);
} }

6
gtsam/geometry/tests/testRot3M.cpp
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@ -31,9 +31,9 @@
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2); static Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2);
Point3 P(0.2, 0.7, -2.0); static Point3 P(0.2, 0.7, -2.0);
double error = 1e-9, epsilon = 0.001; static double error = 1e-9, epsilon = 0.001;
static const Matrix I3 = eye(3); static const Matrix I3 = eye(3);
/* ************************************************************************* */ /* ************************************************************************* */

6
gtsam/geometry/tests/testRot3Q.cpp
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@ -27,9 +27,9 @@
using namespace gtsam; using namespace gtsam;
Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2); static Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2);
Point3 P(0.2, 0.7, -2.0); static Point3 P(0.2, 0.7, -2.0);
double error = 1e-9, epsilon = 0.001; static double error = 1e-9, epsilon = 0.001;
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Rot3, constructor) TEST( Rot3, constructor)

16
gtsam/geometry/tests/testSimpleCamera.cpp
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@ -26,21 +26,21 @@
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
const Cal3_S2 K(625, 625, 0, 0, 0); static const Cal3_S2 K(625, 625, 0, 0, 0);
const Pose3 pose1(Matrix_(3,3, static const Pose3 pose1(Matrix_(3,3,
1., 0., 0., 1., 0., 0.,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.
), ),
Point3(0,0,0.5)); Point3(0,0,0.5));
const SimpleCamera camera(pose1, K); static const SimpleCamera camera(pose1, K);
const Point3 point1(-0.08,-0.08, 0.0); static const Point3 point1(-0.08,-0.08, 0.0);
const Point3 point2(-0.08, 0.08, 0.0); static const Point3 point2(-0.08, 0.08, 0.0);
const Point3 point3( 0.08, 0.08, 0.0); static const Point3 point3( 0.08, 0.08, 0.0);
const Point3 point4( 0.08,-0.08, 0.0); static const Point3 point4( 0.08,-0.08, 0.0);
/* ************************************************************************* */ /* ************************************************************************* */
TEST( SimpleCamera, constructor) TEST( SimpleCamera, constructor)
@ -118,7 +118,7 @@ TEST( SimpleCamera, backproject2)
} }
/* ************************************************************************* */ /* ************************************************************************* */
Point2 project2(const Pose3& pose, const Point3& point) { static Point2 project2(const Pose3& pose, const Point3& point) {
return SimpleCamera(pose,K).project(point); return SimpleCamera(pose,K).project(point);
} }

6
gtsam/inference/tests/testBayesTree.cpp
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@ -62,7 +62,7 @@ static const Index _x3_=0, _x2_=1;
/* ************************************************************************* */ /* ************************************************************************* */
// Conditionals for ASIA example from the tutorial with A and D evidence // Conditionals for ASIA example from the tutorial with A and D evidence
static const Index _X_=0, _T_=1, _S_=2, _E_=3, _L_=4, _B_=5; static const Index _X_=0, _T_=1, _S_=2, _E_=3, _L_=4, _B_=5;
IndexConditional::shared_ptr static IndexConditional::shared_ptr
B(new IndexConditional(_B_)), B(new IndexConditional(_B_)),
L(new IndexConditional(_L_, _B_)), L(new IndexConditional(_L_, _B_)),
E(new IndexConditional(_E_, _L_, _B_)), E(new IndexConditional(_E_, _L_, _B_)),
@ -71,11 +71,11 @@ IndexConditional::shared_ptr
X(new IndexConditional(_X_, _E_)); X(new IndexConditional(_X_, _E_));
// Cliques // Cliques
IndexConditional::shared_ptr static IndexConditional::shared_ptr
ELB(IndexConditional::FromKeys(cref_list_of<3>(_E_)(_L_)(_B_), 3)); ELB(IndexConditional::FromKeys(cref_list_of<3>(_E_)(_L_)(_B_), 3));
// Bayes Tree for Asia example // Bayes Tree for Asia example
SymbolicBayesTree createAsiaSymbolicBayesTree() { static SymbolicBayesTree createAsiaSymbolicBayesTree() {
SymbolicBayesTree bayesTree; SymbolicBayesTree bayesTree;
// Ordering asiaOrdering; asiaOrdering += _X_, _T_, _S_, _E_, _L_, _B_; // Ordering asiaOrdering; asiaOrdering += _X_, _T_, _S_, _E_, _L_, _B_;
SymbolicBayesTree::insert(bayesTree, B); SymbolicBayesTree::insert(bayesTree, B);

2
gtsam/inference/tests/testSymbolicBayesNet.cpp
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@ -35,7 +35,7 @@ static const Index _C_ = 3;
static const Index _D_ = 4; static const Index _D_ = 4;
static const Index _E_ = 5; static const Index _E_ = 5;
IndexConditional::shared_ptr static IndexConditional::shared_ptr
B(new IndexConditional(_B_)), B(new IndexConditional(_B_)),
L(new IndexConditional(_L_, _B_)); L(new IndexConditional(_L_, _B_));

12
gtsam/slam/tests/testGeneralSFMFactor.cpp
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@ -65,7 +65,7 @@ public:
}; };
double getGaussian() static double getGaussian()
{ {
double S,V1,V2; double S,V1,V2;
// Use Box-Muller method to create gauss noise from uniform noise // Use Box-Muller method to create gauss noise from uniform noise
@ -80,7 +80,7 @@ double getGaussian()
return sqrt(-2.0f * (double)log(S) / S) * V1; return sqrt(-2.0f * (double)log(S) / S) * V1;
} }
const SharedNoiseModel sigma1(noiseModel::Unit::Create(1)); static const SharedNoiseModel sigma1(noiseModel::Unit::Create(1));
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GeneralSFMFactor, equals ) TEST( GeneralSFMFactor, equals )
@ -116,7 +116,7 @@ TEST( GeneralSFMFactor, error ) {
static const double baseline = 5.0 ; static const double baseline = 5.0 ;
/* ************************************************************************* */ /* ************************************************************************* */
vector<Point3> genPoint3() { static vector<Point3> genPoint3() {
const double z = 5; const double z = 5;
vector<Point3> landmarks ; vector<Point3> landmarks ;
landmarks.push_back(Point3 (-1.0,-1.0, z)); landmarks.push_back(Point3 (-1.0,-1.0, z));
@ -134,14 +134,14 @@ vector<Point3> genPoint3() {
return landmarks ; return landmarks ;
} }
vector<GeneralCamera> genCameraDefaultCalibration() { static vector<GeneralCamera> genCameraDefaultCalibration() {
vector<GeneralCamera> X ; vector<GeneralCamera> X ;
X.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)))); X.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0))));
X.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)))); X.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0))));
return X ; return X ;
} }
vector<GeneralCamera> genCameraVariableCalibration() { static vector<GeneralCamera> genCameraVariableCalibration() {
const Cal3_S2 K(640,480,0.01,320,240); const Cal3_S2 K(640,480,0.01,320,240);
vector<GeneralCamera> X ; vector<GeneralCamera> X ;
X.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)), K)); X.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)), K));
@ -149,7 +149,7 @@ vector<GeneralCamera> genCameraVariableCalibration() {
return X ; return X ;
} }
boost::shared_ptr<Ordering> getOrdering(const vector<GeneralCamera>& cameras, const vector<Point3>& landmarks) { static boost::shared_ptr<Ordering> getOrdering(const vector<GeneralCamera>& cameras, const vector<Point3>& landmarks) {
boost::shared_ptr<Ordering> ordering(new Ordering); boost::shared_ptr<Ordering> ordering(new Ordering);
for ( size_t i = 0 ; i < landmarks.size() ; ++i ) ordering->push_back(L(i)) ; for ( size_t i = 0 ; i < landmarks.size() ; ++i ) ordering->push_back(L(i)) ;
for ( size_t i = 0 ; i < cameras.size() ; ++i ) ordering->push_back(X(i)) ; for ( size_t i = 0 ; i < cameras.size() ; ++i ) ordering->push_back(X(i)) ;

26
gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
View File

@ -66,7 +66,7 @@ public:
}; };
double getGaussian() static double getGaussian()
{ {
double S,V1,V2; double S,V1,V2;
// Use Box-Muller method to create gauss noise from uniform noise // Use Box-Muller method to create gauss noise from uniform noise
@ -81,10 +81,10 @@ double getGaussian()
return sqrt(-2.0f * (double)log(S) / S) * V1; return sqrt(-2.0f * (double)log(S) / S) * V1;
} }
const SharedNoiseModel sigma1(noiseModel::Unit::Create(1)); static const SharedNoiseModel sigma1(noiseModel::Unit::Create(1));
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GeneralSFMFactor, equals ) TEST( GeneralSFMFactor_Cal3Bundler, equals )
{ {
// Create two identical factors and make sure they're equal // Create two identical factors and make sure they're equal
Vector z = Vector_(2,323.,240.); Vector z = Vector_(2,323.,240.);
@ -100,7 +100,7 @@ TEST( GeneralSFMFactor, equals )
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GeneralSFMFactor, error ) { TEST( GeneralSFMFactor_Cal3Bundler, error ) {
Point2 z(3.,0.); Point2 z(3.,0.);
const SharedNoiseModel sigma(noiseModel::Unit::Create(1)); const SharedNoiseModel sigma(noiseModel::Unit::Create(1));
boost::shared_ptr<Projection> boost::shared_ptr<Projection>
@ -119,7 +119,7 @@ TEST( GeneralSFMFactor, error ) {
static const double baseline = 5.0 ; static const double baseline = 5.0 ;
/* ************************************************************************* */ /* ************************************************************************* */
vector<Point3> genPoint3() { static vector<Point3> genPoint3() {
const double z = 5; const double z = 5;
vector<Point3> landmarks ; vector<Point3> landmarks ;
landmarks.push_back(Point3 (-1.0,-1.0, z)); landmarks.push_back(Point3 (-1.0,-1.0, z));
@ -137,14 +137,14 @@ vector<Point3> genPoint3() {
return landmarks ; return landmarks ;
} }
vector<GeneralCamera> genCameraDefaultCalibration() { static vector<GeneralCamera> genCameraDefaultCalibration() {
vector<GeneralCamera> cameras ; vector<GeneralCamera> cameras ;
cameras.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)))); cameras.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0))));
cameras.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0)))); cameras.push_back(GeneralCamera(Pose3(eye(3),Point3( baseline/2.0, 0.0, 0.0))));
return cameras ; return cameras ;
} }
vector<GeneralCamera> genCameraVariableCalibration() { static vector<GeneralCamera> genCameraVariableCalibration() {
const Cal3Bundler K(500,1e-3,1e-3); const Cal3Bundler K(500,1e-3,1e-3);
vector<GeneralCamera> cameras ; vector<GeneralCamera> cameras ;
cameras.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)), K)); cameras.push_back(GeneralCamera(Pose3(eye(3),Point3(-baseline/2.0, 0.0, 0.0)), K));
@ -152,7 +152,7 @@ vector<GeneralCamera> genCameraVariableCalibration() {
return cameras ; return cameras ;
} }
boost::shared_ptr<Ordering> getOrdering(const std::vector<GeneralCamera>& cameras, const std::vector<Point3>& landmarks) { static boost::shared_ptr<Ordering> getOrdering(const std::vector<GeneralCamera>& cameras, const std::vector<Point3>& landmarks) {
boost::shared_ptr<Ordering> ordering(new Ordering); boost::shared_ptr<Ordering> ordering(new Ordering);
for ( size_t i = 0 ; i < landmarks.size() ; ++i ) ordering->push_back(L(i)) ; for ( size_t i = 0 ; i < landmarks.size() ; ++i ) ordering->push_back(L(i)) ;
for ( size_t i = 0 ; i < cameras.size() ; ++i ) ordering->push_back(X(i)) ; for ( size_t i = 0 ; i < cameras.size() ; ++i ) ordering->push_back(X(i)) ;
@ -160,7 +160,7 @@ boost::shared_ptr<Ordering> getOrdering(const std::vector<GeneralCamera>& camera
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GeneralSFMFactor, optimize_defaultK ) { TEST( GeneralSFMFactor_Cal3Bundler, optimize_defaultK ) {
vector<Point3> landmarks = genPoint3(); vector<Point3> landmarks = genPoint3();
vector<GeneralCamera> cameras = genCameraDefaultCalibration(); vector<GeneralCamera> cameras = genCameraDefaultCalibration();
@ -199,7 +199,7 @@ TEST( GeneralSFMFactor, optimize_defaultK ) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) { TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_SingleMeasurementError ) {
vector<Point3> landmarks = genPoint3(); vector<Point3> landmarks = genPoint3();
vector<GeneralCamera> cameras = genCameraVariableCalibration(); vector<GeneralCamera> cameras = genCameraVariableCalibration();
// add measurement with noise // add measurement with noise
@ -242,7 +242,7 @@ TEST( GeneralSFMFactor, optimize_varK_SingleMeasurementError ) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GeneralSFMFactor, optimize_varK_FixCameras ) { TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_FixCameras ) {
vector<Point3> landmarks = genPoint3(); vector<Point3> landmarks = genPoint3();
vector<GeneralCamera> cameras = genCameraVariableCalibration(); vector<GeneralCamera> cameras = genCameraVariableCalibration();
@ -283,7 +283,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixCameras ) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) { TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_FixLandmarks ) {
vector<Point3> landmarks = genPoint3(); vector<Point3> landmarks = genPoint3();
vector<GeneralCamera> cameras = genCameraVariableCalibration(); vector<GeneralCamera> cameras = genCameraVariableCalibration();
@ -336,7 +336,7 @@ TEST( GeneralSFMFactor, optimize_varK_FixLandmarks ) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GeneralSFMFactor, optimize_varK_BA ) { TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_BA ) {
vector<Point3> landmarks = genPoint3(); vector<Point3> landmarks = genPoint3();
vector<GeneralCamera> cameras = genCameraVariableCalibration(); vector<GeneralCamera> cameras = genCameraVariableCalibration();