116 lines
4.4 KiB
C++
116 lines
4.4 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 testPreconditioner.cpp
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* @brief Unit tests for Preconditioners
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* @author Sungtae An
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* @date Nov 6, 2014
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**/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <gtsam/linear/Preconditioner.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/linear/PCGSolver.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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static GaussianFactorGraph createSimpleGaussianFactorGraph() {
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GaussianFactorGraph fg;
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SharedDiagonal unit2 = noiseModel::Unit::Create(2);
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// linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_]
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fg += JacobianFactor(2, 10*eye(2), -1.0*ones(2), unit2);
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// odometry between x1 and x2: x2-x1=[0.2;-0.1]
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fg += JacobianFactor(2, -10*eye(2), 0, 10*eye(2), Vector2(2.0, -1.0), unit2);
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// measurement between x1 and l1: l1-x1=[0.0;0.2]
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fg += JacobianFactor(2, -5*eye(2), 1, 5*eye(2), Vector2(0.0, 1.0), unit2);
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// measurement between x2 and l1: l1-x2=[-0.2;0.3]
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fg += JacobianFactor(0, -5*eye(2), 1, 5*eye(2), Vector2(-1.0, 1.5), unit2);
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return fg;
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}
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/* ************************************************************************* */
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// Copy of BlockJacobiPreconditioner::build
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std::vector<Matrix> buildBlocks( const GaussianFactorGraph &gfg, const KeyInfo &keyInfo)
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{
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const size_t n = keyInfo.size();
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std::vector<size_t> dims_ = keyInfo.colSpec();
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/* prepare the buffer of block diagonals */
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std::vector<Matrix> blocks; blocks.reserve(n);
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/* allocate memory for the factorization of block diagonals */
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size_t nnz = 0;
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for ( size_t i = 0 ; i < n ; ++i ) {
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const size_t dim = dims_[i];
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blocks.push_back(Matrix::Zero(dim, dim));
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// nnz += (((dim)*(dim+1)) >> 1); // d*(d+1) / 2 ;
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nnz += dim*dim;
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}
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/* compute the block diagonal by scanning over the factors */
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BOOST_FOREACH ( const GaussianFactor::shared_ptr &gf, gfg ) {
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if ( JacobianFactor::shared_ptr jf = boost::dynamic_pointer_cast<JacobianFactor>(gf) ) {
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for ( JacobianFactor::const_iterator it = jf->begin() ; it != jf->end() ; ++it ) {
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const KeyInfoEntry &entry = keyInfo.find(*it)->second;
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const Matrix &Ai = jf->getA(it);
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blocks[entry.index()] += (Ai.transpose() * Ai);
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}
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}
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else if ( HessianFactor::shared_ptr hf = boost::dynamic_pointer_cast<HessianFactor>(gf) ) {
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for ( HessianFactor::const_iterator it = hf->begin() ; it != hf->end() ; ++it ) {
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const KeyInfoEntry &entry = keyInfo.find(*it)->second;
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const Matrix &Hii = hf->info(it, it).selfadjointView();
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blocks[entry.index()] += Hii;
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}
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}
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else {
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throw invalid_argument("BlockJacobiPreconditioner::build gfg contains a factor that is neither a JacobianFactor nor a HessianFactor.");
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}
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}
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return blocks;
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}
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/* ************************************************************************* */
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TEST( Preconditioner, buildBlocks ) {
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// Create simple Gaussian factor graph and initial values
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GaussianFactorGraph gfg = createSimpleGaussianFactorGraph();
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Values initial;
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initial.insert(0,Point2(4, 5));
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initial.insert(1,Point2(0, 1));
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initial.insert(2,Point2(-5, 7));
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// Expected Hessian block diagonal matrices
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std::map<Key, Matrix> expectedHessian =gfg.hessianBlockDiagonal();
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// Actual Hessian block diagonal matrices from BlockJacobiPreconditioner::build
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std::vector<Matrix> actualHessian = buildBlocks(gfg, KeyInfo(gfg));
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// Compare the number of block diagonal matrices
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EXPECT_LONGS_EQUAL(expectedHessian.size(), actualHessian.size());
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// Compare the values of matrices
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std::map<Key, Matrix>::const_iterator it1 = expectedHessian.begin();
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std::vector<Matrix>::const_iterator it2 = actualHessian.begin();
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for(; it1!=expectedHessian.end(); it1++, it2++)
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EXPECT(assert_equal(it1->second, *it2));
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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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