83 lines
2.2 KiB
C++
83 lines
2.2 KiB
C++
/*
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* testConstrainedNonlinearFactorGraph.cpp
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*
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* Created on: Aug 10, 2009
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* Author: Alex Cunningham
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*/
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#include <CppUnitLite/TestHarness.h>
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#include "ConstrainedNonlinearFactorGraph.h"
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#include "smallExample.h"
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using namespace gtsam;
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typedef boost::shared_ptr<NonlinearFactor<VectorConfig> > shared;
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typedef ConstrainedNonlinearFactorGraph<NonlinearFactor<VectorConfig>,VectorConfig> TestGraph;
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//TEST( TestGraph, equals )
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//{
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// TestGraph fg = createConstrainedNonlinearFactorGraph();
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// TestGraph fg2 = createConstrainedNonlinearFactorGraph();
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// CHECK( fg.equals(fg2) );
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//}
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//
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//TEST( TestGraph, copy )
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//{
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// ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph();
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// TestGraph actual(nfg);
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//
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// shared f1 = nfg[0];
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// shared f2 = nfg[1];
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// shared f3 = nfg[2];
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// shared f4 = nfg[3];
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//
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// TestGraph expected;
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// expected.push_back(f1);
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// expected.push_back(f2);
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// expected.push_back(f3);
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// expected.push_back(f4);
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//
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// CHECK(actual.equals(expected));
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//}
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//
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//TEST( TestGraph, baseline )
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//{
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// // use existing examples
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// ExampleNonlinearFactorGraph nfg = createNonlinearFactorGraph();
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// TestGraph cfg(nfg);
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//
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// VectorConfig initial = createNoisyConfig();
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// ConstrainedLinearFactorGraph linearized = cfg.linearize(initial);
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// LinearFactorGraph lfg = createLinearFactorGraph();
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// ConstrainedLinearFactorGraph expected(lfg);
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//
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// CHECK(expected.equals(linearized));
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//}
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//
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///*
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//TEST( TestGraph, convert )
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//{
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// ExampleNonlinearFactorGraph expected = createNonlinearFactorGraph();
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// TestGraph cfg(expected);
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// ExampleNonlinearFactorGraph actual = cfg.convert();
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// CHECK(actual.equals(expected));
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//}
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//*/
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//
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//TEST( TestGraph, linearize_and_solve )
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//{
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// TestGraph nfg = createConstrainedNonlinearFactorGraph();
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// VectorConfig lin = createConstrainedLinConfig();
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// ConstrainedLinearFactorGraph actual_lfg = nfg.linearize(lin);
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// VectorConfig actual = actual_lfg.optimize(actual_lfg.getOrdering());
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//
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// VectorConfig expected = createConstrainedCorrectDelta();
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// CHECK(actual.equals(expected));
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//}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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