89 lines
2.9 KiB
C++
89 lines
2.9 KiB
C++
/* ----------------------------------------------------------------------------
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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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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testFixedVector.cpp
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* @author Alex Cunningham
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam_unstable/base/FixedVector.h>
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using namespace gtsam;
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typedef FixedVector<5> TestVector5;
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typedef FixedVector<3> TestVector3;
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static const double tol = 1e-9;
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/* ************************************************************************* */
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TEST( testFixedVector, conversions ) {
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double data1[] = {1.0, 2.0, 3.0};
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Vector v1 = (Vector(3) << data1[0], data1[1], data1[2]);
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TestVector3 fv1(v1), fv2(data1);
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Vector actFv2(fv2);
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EXPECT(assert_equal(v1, actFv2));
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}
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/* ************************************************************************* */
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TEST( testFixedVector, variable_constructor ) {
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TestVector3 act((Vector(3) << 1.0, 2.0, 3.0));
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EXPECT_DOUBLES_EQUAL(1.0, act(0), tol);
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EXPECT_DOUBLES_EQUAL(2.0, act(1), tol);
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EXPECT_DOUBLES_EQUAL(3.0, act(2), tol);
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}
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/* ************************************************************************* */
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TEST( testFixedVector, equals ) {
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TestVector3 vec1((Vector(3) << 1.0, 2.0, 3.0)), vec2((Vector(3) << 1.0, 2.0, 3.0)),
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vec3((Vector(3) << 2.0, 3.0, 4.0));
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TestVector5 vec4((Vector(5) << 1.0, 2.0, 3.0, 4.0, 5.0));
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EXPECT(assert_equal(vec1, vec1, tol));
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EXPECT(assert_equal(vec1, vec2, tol));
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EXPECT(assert_equal(vec2, vec1, tol));
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EXPECT(!vec1.equals(vec3, tol));
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EXPECT(!vec3.equals(vec1, tol));
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EXPECT(!vec1.equals(vec4, tol));
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EXPECT(!vec4.equals(vec1, tol));
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}
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/* ************************************************************************* */
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TEST( testFixedVector, static_constructors ) {
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TestVector3 actZero = TestVector3::zero();
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TestVector3 expZero((Vector(3) << 0.0, 0.0, 0.0));
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EXPECT(assert_equal(expZero, actZero, tol));
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TestVector3 actOnes = TestVector3::ones();
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TestVector3 expOnes((Vector(3) << 1.0, 1.0, 1.0));
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EXPECT(assert_equal(expOnes, actOnes, tol));
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TestVector3 actRepeat = TestVector3::repeat(2.3);
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TestVector3 expRepeat((Vector(3) << 2.3, 2.3, 2.3));
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EXPECT(assert_equal(expRepeat, actRepeat, tol));
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TestVector3 actBasis = TestVector3::basis(1);
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TestVector3 expBasis((Vector(3) << 0.0, 1.0, 0.0));
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EXPECT(assert_equal(expBasis, actBasis, tol));
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TestVector3 actDelta = TestVector3::delta(1, 2.3);
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TestVector3 expDelta((Vector(3) << 0.0, 2.3, 0.0));
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EXPECT(assert_equal(expDelta, actDelta, tol));
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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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