57 lines
1.9 KiB
Matlab
57 lines
1.9 KiB
Matlab
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% GTSAM Copyright 2010, Georgia Tech Research Corporation,
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% Atlanta, Georgia 30332-0415
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% All Rights Reserved
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% Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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%
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% See LICENSE for the license information
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%
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% @brief Checks for results of functions in utilities namespace
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% @author Frank Dellaert
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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import gtsam.*
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%% Create keys for variables
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x1 = symbol('x',1); x2 = symbol('x',2); x3 = symbol('x',3);
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actual = utilities.createKeyList([1;2;3]);
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CHECK('KeyList', isa(actual,'gtsam.KeyList'));
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CHECK('size==3', actual.size==3);
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CHECK('actual.front==1', actual.front==1);
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actual = utilities.createKeyList('x',[1;2;3]);
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CHECK('KeyList', isa(actual,'gtsam.KeyList'));
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CHECK('size==3', actual.size==3);
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CHECK('actual.front==x1', actual.front==x1);
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actual = utilities.createKeyVector([1;2;3]);
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CHECK('KeyVector', isa(actual,'gtsam.KeyVector'));
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CHECK('size==3', actual.size==3);
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CHECK('actual.at(0)==1', actual.at(0)==1);
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actual = utilities.createKeyVector('x',[1;2;3]);
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CHECK('KeyVector', isa(actual,'gtsam.KeyVector'));
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CHECK('size==3', actual.size==3);
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CHECK('actual.at(0)==x1', actual.at(0)==x1);
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actual = utilities.createKeySet([1;2;3]);
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CHECK('KeySet', isa(actual,'gtsam.KeySet'));
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CHECK('size==3', actual.size==3);
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CHECK('actual.count(1)', actual.count(1));
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actual = utilities.createKeySet('x',[1;2;3]);
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CHECK('KeySet', isa(actual,'gtsam.KeySet'));
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CHECK('size==3', actual.size==3);
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CHECK('actual.count(x1)', actual.count(x1));
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% test extractVectors
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values = Values();
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values.insert(symbol('x', 0), (1:6)');
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values.insert(symbol('x', 1), (7:12)');
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values.insert(symbol('x', 2), (13:18)');
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values.insert(symbol('x', 7), Pose3());
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actual = utilities.extractVectors(values, 'x');
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expected = reshape(1:18, 6, 3)';
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CHECK('extractVectors', all(actual == expected, 'all'));
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