103 lines
2.6 KiB
C++
103 lines
2.6 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file Testable
|
|
* @brief Abstract base class for values that can be used in unit tests
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
// \callgraph
|
|
|
|
#pragma once
|
|
|
|
#include <boost/shared_ptr.hpp>
|
|
#include <stdio.h>
|
|
|
|
#define GTSAM_PRINT(x)((x).print(#x))
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* The Testable class should be templated with the derived class, e.g.
|
|
* class Rot3 : public Testable<Rot3>. This allows us to define the
|
|
* input type of equals as a Rot3 as well.
|
|
*/
|
|
template <class Derived>
|
|
class Testable {
|
|
|
|
public:
|
|
// virtual ~Testable() {}
|
|
|
|
/**
|
|
* print
|
|
* @param s optional string naming the object
|
|
*/
|
|
// virtual void print(const std::string& name) const = 0;
|
|
|
|
/**
|
|
* equality up to tolerance
|
|
* tricky to implement, see NonlinearFactor1 for an example
|
|
* equals is not supposed to print out *anything*, just return true|false
|
|
*/
|
|
// virtual bool equals(const Derived& expected, double tol) const = 0;
|
|
|
|
private:
|
|
static void concept(const Derived& d) {
|
|
const Derived *const_derived = static_cast<Derived*>(&d);
|
|
const_derived->print(std::string());
|
|
const_derived->print();
|
|
bool r;
|
|
r = const_derived->equals(*const_derived, 1.0);
|
|
r = const_derived->equals(*const_derived);
|
|
}
|
|
|
|
}; // Testable class
|
|
|
|
/**
|
|
* This template works for any type with equals
|
|
*/
|
|
template<class V>
|
|
bool assert_equal(const V& expected, const V& actual, double tol = 1e-9) {
|
|
if (actual.equals(expected, tol))
|
|
return true;
|
|
printf("Not equal:\n");
|
|
expected.print("expected");
|
|
actual.print("actual");
|
|
return false;
|
|
}
|
|
|
|
/**
|
|
* Template to create a binary predicate
|
|
*/
|
|
template<class V>
|
|
struct equals : public std::binary_function<const V&, const V&, bool> {
|
|
double tol_;
|
|
equals(double tol = 1e-9) : tol_(tol) {}
|
|
bool operator()(const V& expected, const V& actual) {
|
|
return (actual.equals(expected, tol_));
|
|
}
|
|
};
|
|
|
|
/**
|
|
* Binary predicate on shared pointers
|
|
*/
|
|
template<class V>
|
|
struct equals_star : public std::binary_function<const boost::shared_ptr<V>&, const boost::shared_ptr<V>&, bool> {
|
|
double tol_;
|
|
equals_star(double tol = 1e-9) : tol_(tol) {}
|
|
bool operator()(const boost::shared_ptr<V>& expected, const boost::shared_ptr<V>& actual) {
|
|
return (actual->equals(*expected, tol_));
|
|
}
|
|
};
|
|
|
|
} // gtsam
|