Renamed testGaussianFactor to testJacobianFactor

gtsam/linear/GaussianConditional.h

@@ -28,7 +28,7 @@
 #include <gtsam/base/blockMatrices.h>
 
 // Forward declaration to friend unit tests
-class eliminate2GaussianFactorTest;
+class eliminate2JacobianFactorTest;
 class constructorGaussianConditionalTest;
 class eliminationGaussianFactorGraphTest;
 
@@ -220,14 +220,15 @@ protected:
   rsd_type::Block get_R_() { return rsd_(0); }
   rsd_type::Block get_S_(iterator variable) { return rsd_(variable - this->begin()); }
 
+private:
+
   // Friends
   friend class JacobianFactor;
-  friend class ::eliminate2GaussianFactorTest;
+  friend class ::eliminate2JacobianFactorTest;
   friend class ::constructorGaussianConditionalTest;
   friend class ::eliminationGaussianFactorGraphTest;
 
-private:
+  /** Serialization function */
-	/** Serialization function */
 	friend class boost::serialization::access;
 	template<class Archive>
 	void serialize(Archive & ar, const unsigned int version) {

gtsam/linear/JacobianFactor.h

@@ -27,9 +27,9 @@
 #include <boost/tuple/tuple.hpp>
 
 // Forward declarations of friend unit tests
-class Combine2GaussianFactorTest;
+class Combine2JacobianFactorTest;
-class eliminateFrontalsGaussianFactorTest;
+class eliminateFrontalsJacobianFactorTest;
-class constructor2GaussianFactorTest;
+class constructor2JacobianFactorTest;
 
 namespace gtsam {
 
@@ -198,14 +198,6 @@ namespace gtsam {
     /** return a multi-frontal conditional. It's actually a chordal Bayesnet */
     boost::shared_ptr<GaussianConditional> eliminate(size_t nrFrontals = 1);
 
-    // Friend HessianFactor to facilitate convertion constructors
-    friend class HessianFactor;
-
-    // Friend unit tests (see also forward declarations above)
-    friend class ::Combine2GaussianFactorTest;
-    friend class ::eliminateFrontalsGaussianFactorTest;
-    friend class ::constructor2GaussianFactorTest;
-
     /* Used by ::CombineJacobians for sorting */
     struct _RowSource {
       size_t firstNonzeroVar;
@@ -242,6 +234,15 @@ namespace gtsam {
     void assertInvariants() const;
 
   private:
+
+    // Friend HessianFactor to facilitate convertion constructors
+    friend class HessianFactor;
+
+    // Friend unit tests (see also forward declarations above)
+    friend class ::Combine2JacobianFactorTest;
+    friend class ::eliminateFrontalsJacobianFactorTest;
+    friend class ::constructor2JacobianFactorTest;
+
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>

gtsam/linear/Makefile.am

@@ -28,7 +28,7 @@ sources += GaussianFactor.cpp GaussianFactorGraph.cpp
 sources += GaussianJunctionTree.cpp 
 sources += GaussianConditional.cpp GaussianBayesNet.cpp
 sources += GaussianISAM.cpp
-check_PROGRAMS += tests/testHessianFactor tests/testGaussianFactor tests/testGaussianConditional
+check_PROGRAMS += tests/testHessianFactor tests/testJacobianFactor tests/testGaussianConditional
 check_PROGRAMS += tests/testGaussianFactorGraph tests/testGaussianJunctionTree
 
 # Kalman Filter

gtsam/linear/tests/testJacobianFactor.cpp

@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- *  @file   testGaussianFactor.cpp
+ *  @file   testJacobianFactor.cpp
  *  @brief  Unit tests for Linear Factor
  *  @author Christian Potthast
  *  @author Frank Dellaert
@@ -32,7 +32,7 @@ static SharedDiagonal
 	constraintModel = noiseModel::Constrained::All(2);
 
 /* ************************************************************************* */
-TEST(GaussianFactor, constructor)
+TEST(JacobianFactor, constructor)
 {
 	Vector b = Vector_(3, 1., 2., 3.);
 	SharedDiagonal noise = noiseModel::Diagonal::Sigmas(Vector_(3,1.,1.,1.));
@@ -45,7 +45,7 @@ TEST(GaussianFactor, constructor)
 }
 
 /* ************************************************************************* */
-TEST(GaussianFactor, constructor2)
+TEST(JacobianFactor, constructor2)
 {
   Vector b = Vector_(3, 1., 2., 3.);
   SharedDiagonal noise = noiseModel::Diagonal::Sigmas(Vector_(3,1.,1.,1.));
@@ -72,7 +72,7 @@ TEST(GaussianFactor, constructor2)
 
 /* ************************************************************************* */
 #ifdef BROKEN
-TEST(GaussianFactor, operators )
+TEST(JacobianFactor, operators )
 {
 	Matrix I = eye(2);
 	Vector b = Vector_(2,0.2,-0.1);
@@ -102,7 +102,7 @@ TEST(GaussianFactor, operators )
 }
 #endif
 /* ************************************************************************* */
-TEST(GaussianFactor, eliminate2 )
+TEST(JacobianFactor, eliminate2 )
 {
 	// sigmas
 	double sigma1 = 0.2;
@@ -175,7 +175,7 @@ TEST(GaussianFactor, eliminate2 )
 }
 
 /* ************************************************************************* */
-TEST(GaussianFactor, default_error )
+TEST(JacobianFactor, default_error )
 {
 	JacobianFactor f;
 	vector<size_t> dims;
@@ -186,7 +186,7 @@ TEST(GaussianFactor, default_error )
 
 //* ************************************************************************* */
 #ifdef BROKEN
-TEST(GaussianFactor, eliminate_empty )
+TEST(JacobianFactor, eliminate_empty )
 {
 	// create an empty factor
 	JacobianFactor f;
@@ -208,7 +208,7 @@ TEST(GaussianFactor, eliminate_empty )
 }
 #endif
 //* ************************************************************************* */
-TEST(GaussianFactor, empty )
+TEST(JacobianFactor, empty )
 {
 	// create an empty factor
 	JacobianFactor f;
@@ -224,7 +224,7 @@ void print(const list<T>& i) {
 }
 
 /* ************************************************************************* */
-TEST(GaussianFactor, CONSTRUCTOR_GaussianConditional )
+TEST(JacobianFactor, CONSTRUCTOR_GaussianConditional )
 {
 	Matrix R11 = eye(2);
 	Matrix S12 = Matrix_(2,2,