From f7c5f0cb79bd444c1be96701430f781adf1ab3c7 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@skyd.io>
Date: Wed, 8 Jul 2015 22:50:24 -0700
Subject: [PATCH] Moved test to tests/ExpressionFactor

---
 gtsam/nonlinear/tests/testExpression.cpp | 58 ------------------------
 tests/testExpressionFactor.cpp           | 55 ++++++++++++++++++++++
 2 files changed, 55 insertions(+), 58 deletions(-)

diff --git a/gtsam/nonlinear/tests/testExpression.cpp b/gtsam/nonlinear/tests/testExpression.cpp
index ccb49942b..75af5f634 100644
--- a/gtsam/nonlinear/tests/testExpression.cpp
+++ b/gtsam/nonlinear/tests/testExpression.cpp
@@ -18,16 +18,12 @@
  */
 
 #include <gtsam/nonlinear/Expression.h>
-#include <gtsam/nonlinear/expressionTesting.h>
 #include <gtsam/geometry/PinholeCamera.h>
 #include <gtsam/geometry/Cal3_S2.h>
 #include <gtsam/base/Testable.h>
 
 #include <CppUnitLite/TestHarness.h>
 
-#include <gtsam/linear/VectorValues.h>
-#include <gtsam/nonlinear/ExpressionFactor.h>
-
 #include <boost/assign/list_of.hpp>
 using boost::assign::list_of;
 using boost::assign::map_list_of;
@@ -280,60 +276,6 @@ TEST(Expression, ternary) {
   EXPECT(expected == ABC.keys());
 }
 
-/* ************************************************************************* */
-// Test with multiple compositions on duplicate keys
-static double doubleSum(const double& v1, const double& v2,
-    OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2) {
-  if (H1) {
-    H1->setIdentity();
-  }
-  if (H2) {
-    H2->setIdentity();
-  }
-  return v1 + v2;
-}
-
-TEST(Expression, testMultipleCompositions) {
-  const double tolerance = 1e-5;
-  const double fd_step = 1e-9;
-
-  double v1 = 0;
-  double v2 = 1;
-
-  Values values;
-  values.insert(1, v1);
-  values.insert(2, v2);
-
-  Expression<double> v1_(Key(1));
-  Expression<double> v2_(Key(2));
-
-  // binary(doubleSum)
-  //  - leaf 1
-  //  - leaf 2
-  Expression<double> sum_(doubleSum, v1_, v2_);
-  EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum_, values, fd_step, tolerance);
-
-  // binary(doubleSum)
-  //  - sum_
-  //    - leaf 1
-  //    - leaf 2
-  //  - leaf 1
-  Expression<double> sum2_(doubleSum, sum_, v1_);
-  EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance);
-
-  // binary(doubleSum)
-  //   sum2_
-  //    - sum_
-  //      - leaf 1
-  //      - leaf 2
-  //    - leaf 1
-  //  - sum_
-  //    - leaf 1
-  //    - leaf 2
-  Expression<double> sum3_(doubleSum, sum2_, sum_);
-  EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance);
-}
-
 /* ************************************************************************* */
 int main() {
   TestResult tr;
diff --git a/tests/testExpressionFactor.cpp b/tests/testExpressionFactor.cpp
index 312ad89eb..aa990805e 100644
--- a/tests/testExpressionFactor.cpp
+++ b/tests/testExpressionFactor.cpp
@@ -21,6 +21,7 @@
 #include <gtsam/slam/GeneralSFMFactor.h>
 #include <gtsam/slam/ProjectionFactor.h>
 #include <gtsam/slam/PriorFactor.h>
+#include <gtsam/nonlinear/expressionTesting.h>
 #include <gtsam/nonlinear/ExpressionFactor.h>
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/expressionTesting.h>
@@ -504,6 +505,60 @@ TEST(ExpressionFactor, push_back) {
   graph.addExpressionFactor(model, Point2(0, 0), leaf::p);
 }
 
+/* ************************************************************************* */
+// Test with multiple compositions on duplicate keys
+static double doubleSum(const double& v1, const double& v2,
+    OptionalJacobian<1, 1> H1, OptionalJacobian<1, 1> H2) {
+  if (H1) {
+    H1->setIdentity();
+  }
+  if (H2) {
+    H2->setIdentity();
+  }
+  return v1 + v2;
+}
+
+TEST(Expression, testMultipleCompositions) {
+  const double tolerance = 1e-5;
+  const double fd_step = 1e-9;
+
+  double v1 = 0;
+  double v2 = 1;
+
+  Values values;
+  values.insert(1, v1);
+  values.insert(2, v2);
+
+  Expression<double> v1_(Key(1));
+  Expression<double> v2_(Key(2));
+
+  // binary(doubleSum)
+  //  - leaf 1
+  //  - leaf 2
+  Expression<double> sum_(doubleSum, v1_, v2_);
+  EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum_, values, fd_step, tolerance);
+
+  // binary(doubleSum)
+  //  - sum_
+  //    - leaf 1
+  //    - leaf 2
+  //  - leaf 1
+  Expression<double> sum2_(doubleSum, sum_, v1_);
+  EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum2_, values, fd_step, tolerance);
+
+  // binary(doubleSum)
+  //   sum2_
+  //    - sum_
+  //      - leaf 1
+  //      - leaf 2
+  //    - leaf 1
+  //  - sum_
+  //    - leaf 1
+  //    - leaf 2
+  Expression<double> sum3_(doubleSum, sum2_, sum_);
+  EXPECT_CORRECT_EXPRESSION_JACOBIANS(sum3_, values, fd_step, tolerance);
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;