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uncomment the commented out unit tests during debugging

release/4.3a0
Kai Ni 2010-01-16 05:10:07 +00:00
parent f5a6a10feb
commit fce2a668bb
1 changed files with 52 additions and 52 deletions
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104
cpp/testIterative.cpp
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@ -18,58 +18,58 @@ using namespace boost::assign;
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
///* ************************************************************************* */ /* ************************************************************************* */
//TEST( Iterative, steepestDescent ) TEST( Iterative, steepestDescent )
//{ {
// // Expected solution // Expected solution
// Ordering ord; Ordering ord;
// ord += "l1", "x1", "x2"; ord += "l1", "x1", "x2";
// GaussianFactorGraph fg = createGaussianFactorGraph(); GaussianFactorGraph fg = createGaussianFactorGraph();
// VectorConfig expected = fg.optimize(ord); // destructive VectorConfig expected = fg.optimize(ord); // destructive
//
// // Do gradient descent // Do gradient descent
// GaussianFactorGraph fg2 = createGaussianFactorGraph(); GaussianFactorGraph fg2 = createGaussianFactorGraph();
// VectorConfig zero = createZeroDelta(); VectorConfig zero = createZeroDelta();
// bool verbose = false; bool verbose = false;
// VectorConfig actual = steepestDescent(fg2, zero, verbose); VectorConfig actual = steepestDescent(fg2, zero, verbose);
// CHECK(assert_equal(expected,actual,1e-2)); CHECK(assert_equal(expected,actual,1e-2));
//} }
//
///* ************************************************************************* */ /* ************************************************************************* */
//TEST( Iterative, conjugateGradientDescent ) TEST( Iterative, conjugateGradientDescent )
//{ {
// // Expected solution // Expected solution
// Ordering ord; Ordering ord;
// ord += "l1", "x1", "x2"; ord += "l1", "x1", "x2";
// GaussianFactorGraph fg = createGaussianFactorGraph(); GaussianFactorGraph fg = createGaussianFactorGraph();
// VectorConfig expected = fg.optimize(ord); // destructive VectorConfig expected = fg.optimize(ord); // destructive
//
// // create graph and get matrices // create graph and get matrices
// GaussianFactorGraph fg2 = createGaussianFactorGraph(); GaussianFactorGraph fg2 = createGaussianFactorGraph();
// Matrix A; Matrix A;
// Vector b; Vector b;
// Vector x0 = gtsam::zero(6); Vector x0 = gtsam::zero(6);
// boost::tie(A, b) = fg2.matrix(ord); boost::tie(A, b) = fg2.matrix(ord);
// Vector expectedX = Vector_(6, -0.1, 0.1, -0.1, -0.1, 0.1, -0.2); Vector expectedX = Vector_(6, -0.1, 0.1, -0.1, -0.1, 0.1, -0.2);
//
// // Do conjugate gradient descent, System version // Do conjugate gradient descent, System version
// System Ab(A, b); System Ab(A, b);
// Vector actualX = conjugateGradientDescent(Ab, x0); Vector actualX = conjugateGradientDescent(Ab, x0);
// CHECK(assert_equal(expectedX,actualX,1e-9)); CHECK(assert_equal(expectedX,actualX,1e-9));
//
// // Do conjugate gradient descent, Matrix version // Do conjugate gradient descent, Matrix version
// Vector actualX2 = conjugateGradientDescent(A, b, x0); Vector actualX2 = conjugateGradientDescent(A, b, x0);
// CHECK(assert_equal(expectedX,actualX2,1e-9)); CHECK(assert_equal(expectedX,actualX2,1e-9));
//
// // Do conjugate gradient descent on factor graph // Do conjugate gradient descent on factor graph
// VectorConfig zero = createZeroDelta(); VectorConfig zero = createZeroDelta();
// VectorConfig actual = conjugateGradientDescent(fg2, zero); VectorConfig actual = conjugateGradientDescent(fg2, zero);
// CHECK(assert_equal(expected,actual,1e-2)); CHECK(assert_equal(expected,actual,1e-2));
//
// // Test method // Test method
// VectorConfig actual2 = fg2.conjugateGradientDescent(zero); VectorConfig actual2 = fg2.conjugateGradientDescent(zero);
// CHECK(assert_equal(expected,actual2,1e-2)); CHECK(assert_equal(expected,actual2,1e-2));
//} }
/* ************************************************************************* * /* ************************************************************************* *
TEST( Iterative, conjugateGradientDescent_hard_constraint ) TEST( Iterative, conjugateGradientDescent_hard_constraint )