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Moved test to tests/ExpressionFactor

release/4.3a0
Frank Dellaert 2015-07-08 22:50:24 -07:00
parent 0c29215018
commit f7c5f0cb79
2 changed files with 55 additions and 58 deletions
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58
gtsam/nonlinear/tests/testExpression.cpp
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@ -18,16 +18,12 @@
*/ */
#include <gtsam/nonlinear/Expression.h> #include <gtsam/nonlinear/Expression.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h> #include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/base/Testable.h> #include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <gtsam/linear/VectorValues.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <boost/assign/list_of.hpp> #include <boost/assign/list_of.hpp>
using boost::assign::list_of; using boost::assign::list_of;
using boost::assign::map_list_of; using boost::assign::map_list_of;
@ -280,60 +276,6 @@ TEST(Expression, ternary) {
EXPECT(expected == ABC.keys()); 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() { int main() {
TestResult tr; TestResult tr;

55
tests/testExpressionFactor.cpp
View File

@ -21,6 +21,7 @@
#include <gtsam/slam/GeneralSFMFactor.h> #include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/slam/ProjectionFactor.h> #include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/slam/PriorFactor.h> #include <gtsam/slam/PriorFactor.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <gtsam/nonlinear/ExpressionFactor.h> #include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/expressionTesting.h> #include <gtsam/nonlinear/expressionTesting.h>
@ -504,6 +505,60 @@ TEST(ExpressionFactor, push_back) {
graph.addExpressionFactor(model, Point2(0, 0), leaf::p); 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() { int main() {
TestResult tr; TestResult tr;