Moved test to tests/ExpressionFactor
parent
0c29215018
commit
f7c5f0cb79
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@ -18,16 +18,12 @@
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*/
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#include <gtsam/nonlinear/Expression.h>
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#include <gtsam/nonlinear/expressionTesting.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/base/Testable.h>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/linear/VectorValues.h>
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#include <gtsam/nonlinear/ExpressionFactor.h>
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#include <boost/assign/list_of.hpp>
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using boost::assign::list_of;
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using boost::assign::map_list_of;
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@ -280,60 +276,6 @@ TEST(Expression, ternary) {
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EXPECT(expected == ABC.keys());
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}
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/* ************************************************************************* */
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// Test with multiple compositions on duplicate keys
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static double doubleSum(const double& v1, const double& v2,
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OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2) {
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if (H1) {
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H1->setIdentity();
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}
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if (H2) {
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H2->setIdentity();
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}
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return v1 + v2;
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}
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TEST(Expression, testMultipleCompositions) {
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const double tolerance = 1e-5;
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const double fd_step = 1e-9;
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double v1 = 0;
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double v2 = 1;
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Values values;
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values.insert(1, v1);
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values.insert(2, v2);
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Expression<double> v1_(Key(1));
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Expression<double> v2_(Key(2));
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// binary(doubleSum)
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// - leaf 1
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// - leaf 2
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Expression<double> sum_(doubleSum, v1_, v2_);
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EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum_, values, fd_step, tolerance);
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// binary(doubleSum)
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// - sum_
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// - leaf 1
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// - leaf 2
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// - leaf 1
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Expression<double> sum2_(doubleSum, sum_, v1_);
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EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance);
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// binary(doubleSum)
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// sum2_
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// - sum_
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// - leaf 1
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// - leaf 2
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// - leaf 1
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// - sum_
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// - leaf 1
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// - leaf 2
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Expression<double> sum3_(doubleSum, sum2_, sum_);
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EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance);
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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@ -21,6 +21,7 @@
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#include <gtsam/slam/GeneralSFMFactor.h>
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#include <gtsam/slam/ProjectionFactor.h>
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/nonlinear/expressionTesting.h>
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#include <gtsam/nonlinear/ExpressionFactor.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/expressionTesting.h>
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@ -504,6 +505,60 @@ TEST(ExpressionFactor, push_back) {
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graph.addExpressionFactor(model, Point2(0, 0), leaf::p);
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}
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/* ************************************************************************* */
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// Test with multiple compositions on duplicate keys
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static double doubleSum(const double& v1, const double& v2,
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OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2) {
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if (H1) {
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H1->setIdentity();
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}
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if (H2) {
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H2->setIdentity();
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}
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return v1 + v2;
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}
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TEST(Expression, testMultipleCompositions) {
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const double tolerance = 1e-5;
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const double fd_step = 1e-9;
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double v1 = 0;
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double v2 = 1;
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Values values;
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values.insert(1, v1);
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values.insert(2, v2);
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Expression<double> v1_(Key(1));
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Expression<double> v2_(Key(2));
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// binary(doubleSum)
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// - leaf 1
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// - leaf 2
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Expression<double> sum_(doubleSum, v1_, v2_);
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EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum_, values, fd_step, tolerance);
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// binary(doubleSum)
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// - sum_
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// - leaf 1
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// - leaf 2
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// - leaf 1
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Expression<double> sum2_(doubleSum, sum_, v1_);
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EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance);
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// binary(doubleSum)
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// sum2_
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// - sum_
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// - leaf 1
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// - leaf 2
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// - leaf 1
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// - sum_
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// - leaf 1
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// - leaf 2
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Expression<double> sum3_(doubleSum, sum2_, sum_);
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EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance);
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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