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Added extra test case

release/4.3a0
dellaert 2014-05-31 21:57:36 -04:00
parent 0f2d983190
commit f32968cc03
1 changed files with 7 additions and 2 deletions
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9
gtsam/slam/tests/testDataset.cpp
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@ -50,6 +50,11 @@ TEST( dataSet, load2D)
load2D(filename, SharedNoiseModel(), 10000, false, false); load2D(filename, SharedNoiseModel(), 10000, false, false);
EXPECT_LONGS_EQUAL(300,graph->size()); EXPECT_LONGS_EQUAL(300,graph->size());
EXPECT_LONGS_EQUAL(100,initial->size()); EXPECT_LONGS_EQUAL(100,initial->size());
noiseModel::Unit::shared_ptr model = noiseModel::Unit::Create(3);
BetweenFactor<Pose2> expected(1, 0, Pose2(-0.99879,0.0417574,-0.00818381), model);
BetweenFactor<Pose2>::shared_ptr actual = boost::dynamic_pointer_cast<
BetweenFactor<Pose2> >(graph->at(0));
EXPECT(assert_equal(expected, *actual));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -118,7 +123,7 @@ TEST( dataSet, readG2oHuber)
const string g2oFile = findExampleDataFile("pose2example"); const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph actualGraph; NonlinearFactorGraph actualGraph;
Values actualValues; Values actualValues;
readG2o(g2oFile, actualGraph, actualValues, HUBER); readG2o(g2oFile, actualGraph, actualValues, KernelFunctionTypeHUBER);
noiseModel::Diagonal::shared_ptr baseModel = noiseModel::Diagonal::Precisions((Vector(3) << 44.721360, 44.721360, 30.901699)); noiseModel::Diagonal::shared_ptr baseModel = noiseModel::Diagonal::Precisions((Vector(3) << 44.721360, 44.721360, 30.901699));
SharedNoiseModel model = noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.345), baseModel); SharedNoiseModel model = noiseModel::Robust::Create(noiseModel::mEstimator::Huber::Create(1.345), baseModel);
@ -145,7 +150,7 @@ TEST( dataSet, readG2oTukey)
const string g2oFile = findExampleDataFile("pose2example"); const string g2oFile = findExampleDataFile("pose2example");
NonlinearFactorGraph actualGraph; NonlinearFactorGraph actualGraph;
Values actualValues; Values actualValues;
readG2o(g2oFile, actualGraph, actualValues, TUKEY); readG2o(g2oFile, actualGraph, actualValues, KernelFunctionTypeTUKEY);
noiseModel::Diagonal::shared_ptr baseModel = noiseModel::Diagonal::Precisions((Vector(3) << 44.721360, 44.721360, 30.901699)); noiseModel::Diagonal::shared_ptr baseModel = noiseModel::Diagonal::Precisions((Vector(3) << 44.721360, 44.721360, 30.901699));
SharedNoiseModel model = noiseModel::Robust::Create(noiseModel::mEstimator::Tukey::Create(4.6851), baseModel); SharedNoiseModel model = noiseModel::Robust::Create(noiseModel::mEstimator::Tukey::Create(4.6851), baseModel);