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uncommented unit tests

release/4.3a0
Kai Ni 2010-02-22 16:43:40 +00:00
parent f3a24c5c88
commit ee9205f0fa
1 changed files with 172 additions and 172 deletions
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cpp/testNoiseModel.cpp
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@ -35,178 +35,178 @@ static Matrix Q = Matrix_(3, 3,
static double inf = std::numeric_limits<double>::infinity(); static double inf = std::numeric_limits<double>::infinity();
/* ************************************************************************* */ /* ************************************************************************* */
//TEST(NoiseModel, constructors) TEST(NoiseModel, constructors)
//{ {
// Vector whitened = Vector_(3,5.0,10.0,15.0); Vector whitened = Vector_(3,5.0,10.0,15.0);
// Vector unwhitened = Vector_(3,10.0,20.0,30.0); Vector unwhitened = Vector_(3,10.0,20.0,30.0);
//
// // Construct noise models // Construct noise models
// vector<Gaussian::shared_ptr> m; vector<Gaussian::shared_ptr> m;
// m.push_back(Gaussian::SqrtInformation(R)); m.push_back(Gaussian::SqrtInformation(R));
// m.push_back(Gaussian::Covariance(Sigma)); m.push_back(Gaussian::Covariance(Sigma));
// m.push_back(Gaussian::Information(Q)); m.push_back(Gaussian::Information(Q));
// m.push_back(Diagonal::Sigmas(Vector_(3, sigma, sigma, sigma))); m.push_back(Diagonal::Sigmas(Vector_(3, sigma, sigma, sigma)));
// m.push_back(Diagonal::Variances(Vector_(3, var, var, var))); m.push_back(Diagonal::Variances(Vector_(3, var, var, var)));
// m.push_back(Diagonal::Precisions(Vector_(3, prc, prc, prc))); m.push_back(Diagonal::Precisions(Vector_(3, prc, prc, prc)));
// m.push_back(Isotropic::Sigma(3, sigma)); m.push_back(Isotropic::Sigma(3, sigma));
// m.push_back(Isotropic::Variance(3, var)); m.push_back(Isotropic::Variance(3, var));
// m.push_back(Isotropic::Precision(3, prc)); m.push_back(Isotropic::Precision(3, prc));
//
// // test whiten // test whiten
// int i=0; int i=0;
// BOOST_FOREACH(Gaussian::shared_ptr mi, m) BOOST_FOREACH(Gaussian::shared_ptr mi, m)
// CHECK(assert_equal(whitened,mi->whiten(unwhitened))); CHECK(assert_equal(whitened,mi->whiten(unwhitened)));
//
// // test unwhiten // test unwhiten
// BOOST_FOREACH(Gaussian::shared_ptr mi, m) BOOST_FOREACH(Gaussian::shared_ptr mi, m)
// CHECK(assert_equal(unwhitened,mi->unwhiten(whitened))); CHECK(assert_equal(unwhitened,mi->unwhiten(whitened)));
//
// // test Mahalanobis distance // test Mahalanobis distance
// double distance = 5*5+10*10+15*15; double distance = 5*5+10*10+15*15;
// BOOST_FOREACH(Gaussian::shared_ptr mi, m) BOOST_FOREACH(Gaussian::shared_ptr mi, m)
// DOUBLES_EQUAL(distance,mi->Mahalanobis(unwhitened),1e-9); DOUBLES_EQUAL(distance,mi->Mahalanobis(unwhitened),1e-9);
//
// // test R matrix // test R matrix
// Matrix expectedR(Matrix_(3, 3, Matrix expectedR(Matrix_(3, 3,
// s_1, 0.0, 0.0, s_1, 0.0, 0.0,
// 0.0, s_1, 0.0, 0.0, s_1, 0.0,
// 0.0, 0.0, s_1)); 0.0, 0.0, s_1));
//
// BOOST_FOREACH(Gaussian::shared_ptr mi, m) BOOST_FOREACH(Gaussian::shared_ptr mi, m)
// CHECK(assert_equal(expectedR,mi->R())); CHECK(assert_equal(expectedR,mi->R()));
//
// // test Whiten operator // test Whiten operator
// Matrix H(Matrix_(3, 4, Matrix H(Matrix_(3, 4,
// 0.0, 0.0, 1.0, 1.0, 0.0, 0.0, 1.0, 1.0,
// 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0,
// 1.0, 0.0, 0.0, 1.0)); 1.0, 0.0, 0.0, 1.0));
//
// Matrix expected(Matrix_(3, 4, Matrix expected(Matrix_(3, 4,
// 0.0, 0.0, s_1, s_1, 0.0, 0.0, s_1, s_1,
// 0.0, s_1, 0.0, s_1, 0.0, s_1, 0.0, s_1,
// s_1, 0.0, 0.0, s_1)); s_1, 0.0, 0.0, s_1));
//
// BOOST_FOREACH(Gaussian::shared_ptr mi, m) BOOST_FOREACH(Gaussian::shared_ptr mi, m)
// CHECK(assert_equal(expected,mi->Whiten(H))); CHECK(assert_equal(expected,mi->Whiten(H)));
//
// // can only test inplace version once :-) // can only test inplace version once :-)
// m[0]->WhitenInPlace(H); m[0]->WhitenInPlace(H);
// CHECK(assert_equal(expected,H)); CHECK(assert_equal(expected,H));
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//TEST(NoiseModel, Unit) { TEST(NoiseModel, Unit) {
// Vector v = Vector_(3,5.0,10.0,15.0); Vector v = Vector_(3,5.0,10.0,15.0);
// Gaussian::shared_ptr u(Unit::Create(3)); Gaussian::shared_ptr u(Unit::Create(3));
// CHECK(assert_equal(v,u->whiten(v))); CHECK(assert_equal(v,u->whiten(v)));
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//TEST(NoiseModel, equals) TEST(NoiseModel, equals)
//{ {
// Gaussian::shared_ptr g = Gaussian::SqrtInformation(R); Gaussian::shared_ptr g = Gaussian::SqrtInformation(R);
// Diagonal::shared_ptr d = Diagonal::Sigmas(Vector_(3, sigma, sigma, sigma)); Diagonal::shared_ptr d = Diagonal::Sigmas(Vector_(3, sigma, sigma, sigma));
// Isotropic::shared_ptr i = Isotropic::Sigma(3, sigma); Isotropic::shared_ptr i = Isotropic::Sigma(3, sigma);
// CHECK(assert_equal(*g,*g)); CHECK(assert_equal(*g,*g));
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//TEST(NoiseModel, ConstrainedMixed ) TEST(NoiseModel, ConstrainedMixed )
//{ {
// Vector feasible = Vector_(3, 1.0, 0.0, 1.0), Vector feasible = Vector_(3, 1.0, 0.0, 1.0),
// infeasible = Vector_(3, 1.0, 1.0, 1.0); infeasible = Vector_(3, 1.0, 1.0, 1.0);
// Constrained::shared_ptr d = Constrained::MixedSigmas(Vector_(3, sigma, 0.0, sigma)); Constrained::shared_ptr d = Constrained::MixedSigmas(Vector_(3, sigma, 0.0, sigma));
// CHECK(assert_equal(Vector_(3, 0.5, inf, 0.5),d->whiten(infeasible))); CHECK(assert_equal(Vector_(3, 0.5, inf, 0.5),d->whiten(infeasible)));
// CHECK(assert_equal(Vector_(3, 0.5, 0.0, 0.5),d->whiten(feasible))); CHECK(assert_equal(Vector_(3, 0.5, 0.0, 0.5),d->whiten(feasible)));
// DOUBLES_EQUAL(inf,d->Mahalanobis(infeasible),1e-9); DOUBLES_EQUAL(inf,d->Mahalanobis(infeasible),1e-9);
// DOUBLES_EQUAL(0.5,d->Mahalanobis(feasible),1e-9); DOUBLES_EQUAL(0.5,d->Mahalanobis(feasible),1e-9);
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//TEST(NoiseModel, ConstrainedAll ) TEST(NoiseModel, ConstrainedAll )
//{ {
// Vector feasible = Vector_(3, 0.0, 0.0, 0.0), Vector feasible = Vector_(3, 0.0, 0.0, 0.0),
// infeasible = Vector_(3, 1.0, 1.0, 1.0); infeasible = Vector_(3, 1.0, 1.0, 1.0);
//
// Constrained::shared_ptr i = Constrained::All(3); Constrained::shared_ptr i = Constrained::All(3);
// CHECK(assert_equal(Vector_(3, inf, inf, inf),i->whiten(infeasible))); CHECK(assert_equal(Vector_(3, inf, inf, inf),i->whiten(infeasible)));
// CHECK(assert_equal(Vector_(3, 0.0, 0.0, 0.0),i->whiten(feasible))); CHECK(assert_equal(Vector_(3, 0.0, 0.0, 0.0),i->whiten(feasible)));
// DOUBLES_EQUAL(inf,i->Mahalanobis(infeasible),1e-9); DOUBLES_EQUAL(inf,i->Mahalanobis(infeasible),1e-9);
// DOUBLES_EQUAL(0.0,i->Mahalanobis(feasible),1e-9); DOUBLES_EQUAL(0.0,i->Mahalanobis(feasible),1e-9);
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//TEST( NoiseModel, QR ) TEST( NoiseModel, QR )
//{ {
// // create a matrix to eliminate // create a matrix to eliminate
// Matrix Ab1 = Matrix_(4, 6+1, Matrix Ab1 = Matrix_(4, 6+1,
// -1., 0., 1., 0., 0., 0., -0.2, -1., 0., 1., 0., 0., 0., -0.2,
// 0., -1., 0., 1., 0., 0., 0.3, 0., -1., 0., 1., 0., 0., 0.3,
// 1., 0., 0., 0., -1., 0., 0.2, 1., 0., 0., 0., -1., 0., 0.2,
// 0., 1., 0., 0., 0., -1., -0.1); 0., 1., 0., 0., 0., -1., -0.1);
// Matrix Ab2 = Ab1; // otherwise overwritten ! Matrix Ab2 = Ab1; // otherwise overwritten !
// Vector sigmas = Vector_(4, 0.2, 0.2, 0.1, 0.1); Vector sigmas = Vector_(4, 0.2, 0.2, 0.1, 0.1);
//
// // Expected result // Expected result
// Vector expectedSigmas = Vector_(4, 0.0894427, 0.0894427, 0.223607, 0.223607); Vector expectedSigmas = Vector_(4, 0.0894427, 0.0894427, 0.223607, 0.223607);
// SharedDiagonal expectedModel = noiseModel::Diagonal::Sigmas(expectedSigmas); SharedDiagonal expectedModel = noiseModel::Diagonal::Sigmas(expectedSigmas);
//
// // Call Gaussian version // Call Gaussian version
// SharedDiagonal diagonal = noiseModel::Diagonal::Sigmas(sigmas); SharedDiagonal diagonal = noiseModel::Diagonal::Sigmas(sigmas);
// SharedDiagonal actual1 = diagonal->QR(Ab1); SharedDiagonal actual1 = diagonal->QR(Ab1);
// SharedDiagonal expected = noiseModel::Unit::Create(4); SharedDiagonal expected = noiseModel::Unit::Create(4);
// CHECK(assert_equal(*expected,*actual1)); CHECK(assert_equal(*expected,*actual1));
// Matrix expectedRd1 = Matrix_(4, 6+1, Matrix expectedRd1 = Matrix_(4, 6+1,
// 11.1803, 0.0, -2.23607, 0.0, -8.94427, 0.0, 2.23607, 11.1803, 0.0, -2.23607, 0.0, -8.94427, 0.0, 2.23607,
// 0.0, 11.1803, 0.0, -2.23607, 0.0, -8.94427,-1.56525, 0.0, 11.1803, 0.0, -2.23607, 0.0, -8.94427,-1.56525,
// 0.0, 0.0, 4.47214, 0.0, -4.47214, 0.0, 0.0, 0.0, 0.0, 4.47214, 0.0, -4.47214, 0.0, 0.0,
// 0.0, 0.0, 0.0, 4.47214, 0.0, -4.47214, 0.894427); 0.0, 0.0, 0.0, 4.47214, 0.0, -4.47214, 0.894427);
// CHECK(assert_equal(expectedRd1,Ab1,1e-4)); // Ab was modified in place !!! CHECK(assert_equal(expectedRd1,Ab1,1e-4)); // Ab was modified in place !!!
//
// // Call Constrained version // Call Constrained version
// SharedDiagonal constrained = noiseModel::Constrained::MixedSigmas(sigmas); SharedDiagonal constrained = noiseModel::Constrained::MixedSigmas(sigmas);
// SharedDiagonal actual2 = constrained->QR(Ab2); SharedDiagonal actual2 = constrained->QR(Ab2);
// SharedDiagonal expectedModel2 = noiseModel::Diagonal::Sigmas(expectedSigmas); SharedDiagonal expectedModel2 = noiseModel::Diagonal::Sigmas(expectedSigmas);
// CHECK(assert_equal(*expectedModel2,*actual2)); CHECK(assert_equal(*expectedModel2,*actual2));
// Matrix expectedRd2 = Matrix_(4, 6+1, Matrix expectedRd2 = Matrix_(4, 6+1,
// 1., 0., -0.2, 0., -0.8, 0., 0.2, 1., 0., -0.2, 0., -0.8, 0., 0.2,
// 0., 1., 0.,-0.2, 0., -0.8,-0.14, 0., 1., 0.,-0.2, 0., -0.8,-0.14,
// 0., 0., 1., 0., -1., 0., 0.0, 0., 0., 1., 0., -1., 0., 0.0,
// 0., 0., 0., 1., 0., -1., 0.2); 0., 0., 0., 1., 0., -1., 0.2);
// CHECK(assert_equal(expectedRd2,Ab2,1e-6)); // Ab was modified in place !!! CHECK(assert_equal(expectedRd2,Ab2,1e-6)); // Ab was modified in place !!!
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//TEST(NoiseModel, QRNan ) TEST(NoiseModel, QRNan )
//{ {
// SharedDiagonal constrained = noiseModel::Constrained::All(2); SharedDiagonal constrained = noiseModel::Constrained::All(2);
// Matrix Ab = Matrix_(2, 5, 1., 2., 1., 2., 3., 2., 1., 2., 4., 4.); Matrix Ab = Matrix_(2, 5, 1., 2., 1., 2., 3., 2., 1., 2., 4., 4.);
//
// SharedDiagonal expected = noiseModel::Constrained::All(2); SharedDiagonal expected = noiseModel::Constrained::All(2);
// Matrix expectedAb = Matrix_(2, 5, 1., 2., 1., 2., 3., 0., 1., 0., 0., 2.0/3); Matrix expectedAb = Matrix_(2, 5, 1., 2., 1., 2., 3., 0., 1., 0., 0., 2.0/3);
//
// SharedDiagonal actual = constrained->QR(Ab); SharedDiagonal actual = constrained->QR(Ab);
// CHECK(assert_equal(*expected,*actual)); CHECK(assert_equal(*expected,*actual));
// CHECK(assert_equal(expectedAb,Ab)); CHECK(assert_equal(expectedAb,Ab));
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//TEST(NoiseModel, SmartCovariance ) TEST(NoiseModel, SmartCovariance )
//{ {
// bool smart = true; bool smart = true;
// SharedGaussian expected = Unit::Create(3); SharedGaussian expected = Unit::Create(3);
// SharedGaussian actual = Gaussian::Covariance(eye(3), smart); SharedGaussian actual = Gaussian::Covariance(eye(3), smart);
// CHECK(assert_equal(*expected,*actual)); CHECK(assert_equal(*expected,*actual));
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//TEST(NoiseModel, ScalarOrVector ) TEST(NoiseModel, ScalarOrVector )
//{ {
// bool smart = true; bool smart = true;
// SharedGaussian expected = Unit::Create(3); SharedGaussian expected = Unit::Create(3);
// SharedGaussian actual = Gaussian::Covariance(eye(3), smart); SharedGaussian actual = Gaussian::Covariance(eye(3), smart);
// CHECK(assert_equal(*expected,*actual)); CHECK(assert_equal(*expected,*actual));
//} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(NoiseModel, WhitenInPlace) TEST(NoiseModel, WhitenInPlace)