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ternary test

release/4.3a0
dellaert 2014-10-02 23:39:17 +02:00
parent 59af1c4b6d
commit da4cfe6fdc
1 changed files with 32 additions and 2 deletions
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34
gtsam_unstable/nonlinear/tests/testExpression.cpp
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@ -50,7 +50,8 @@ TEST(Expression, test) {
// Create expression tree
Expression<Point3> p_cam(x, &Pose3::transform_to, p);
Expression<Point2> projection(PinholeCamera<Cal3_S2>::project_to_camera, p_cam);
Expression<Point2> projection(PinholeCamera<Cal3_S2>::project_to_camera,
p_cam);
Expression<Point2> uv_hat(uncalibrate<Cal3_S2>, K, projection);
// Check keys
@ -91,7 +92,7 @@ TEST(Expression, compose2) {
}
/* ************************************************************************* */
// Test compose with one arguments referring to a constant same rotation
// Test compose with one arguments referring to constant rotation
TEST(Expression, compose3) {
// Create expression
@ -104,6 +105,35 @@ TEST(Expression, compose3) {
EXPECT(expectedKeys == R3.keys());
}
/* ************************************************************************* */
// Test with ternary function
Rot3 composeThree(const Rot3& R1, const Rot3& R2, const Rot3& R3,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2,
boost::optional<Matrix&> H3) {
// return dummy derivatives (not correct, but that's ok for testing here)
if (H1)
*H1 = eye(3);
if (H2)
*H2 = eye(3);
if (H3)
*H3 = eye(3);
return R1 * (R2 * R3);
}
//TEST(Expression, ternary) {
//
// // Create expression
// Expression<Rot3> A(1), B(2), C(3);
// Expression<Rot3> ABC(composeThree, A, B, C);
//
// // Check keys
// std::set<Key> expectedKeys;
// expectedKeys.insert(1);
// expectedKeys.insert(2);
// expectedKeys.insert(3);
// EXPECT(expectedKeys == ABC.keys());
//}
/* ************************************************************************* */
int main() {
TestResult tr;