/** * @file testSimulated2D.cpp * @brief Unit tests for simulated 2D measurement functions * @author Christian Potthast * @author Carlos Nieto **/ #include #include #include "numericalDerivative.h" #include "simulated2D.h" using namespace gtsam; using namespace std; /* ************************************************************************* */ TEST( simulated2D, Dprior ) { Vector x(2);x(0)=1;x(1)=-9; Matrix numerical = NumericalDerivative11(prior,x); Matrix computed = Dprior(x); CHECK(assert_equal(numerical,computed,1e-9)); } /* ************************************************************************* */ TEST( simulated2D, DOdo1 ) { Vector x1(2);x1(0)= 1;x1(1)=-9; Vector x2(2);x2(0)=-5;x2(1)= 6; Matrix numerical = NumericalDerivative21(odo,x1,x2); Matrix computed = Dodo1(x1,x2); CHECK(assert_equal(numerical,computed,1e-9)); } /* ************************************************************************* */ TEST( simulated2D, DOdo2 ) { Vector x1(2);x1(0)= 1;x1(1)=-9; Vector x2(2);x2(0)=-5;x2(1)= 6; Matrix numerical = NumericalDerivative22(odo,x1,x2); Matrix computed = Dodo2(x1,x2); CHECK(assert_equal(numerical,computed,1e-9)); } /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr);} /* ************************************************************************* */