71 lines
2.2 KiB
C++
71 lines
2.2 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 testSignature
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* @brief Tests focusing on the details of Signatures to evaluate boost compliance
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* @author Alex Cunningham
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* @date Sept 19th 2011
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*/
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#include <boost/assign/std/vector.hpp>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/discrete/Signature.h>
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using namespace std;
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using namespace gtsam;
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using namespace boost::assign;
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DiscreteKey X(0,2), Y(1,3), Z(2,2);
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/* ************************************************************************* */
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TEST(testSignature, simple_conditional) {
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Signature sig(X | Y = "1/1 2/3 1/4");
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DiscreteKey actKey = sig.key();
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LONGS_EQUAL(X.first, actKey.first);
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DiscreteKeys actKeys = sig.discreteKeysParentsFirst();
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LONGS_EQUAL(2, actKeys.size());
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LONGS_EQUAL(Y.first, actKeys.front().first);
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LONGS_EQUAL(X.first, actKeys.back().first);
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vector<double> actCpt = sig.cpt();
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EXPECT_LONGS_EQUAL(6, actCpt.size());
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}
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/* ************************************************************************* */
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TEST(testSignature, simple_conditional_nonparser) {
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Signature::Table table;
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Signature::Row row1, row2, row3;
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row1 += 1.0, 1.0;
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row2 += 2.0, 3.0;
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row3 += 1.0, 4.0;
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table += row1, row2, row3;
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Signature sig(X | Y = table);
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DiscreteKey actKey = sig.key();
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EXPECT_LONGS_EQUAL(X.first, actKey.first);
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DiscreteKeys actKeys = sig.discreteKeysParentsFirst();
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LONGS_EQUAL(2, actKeys.size());
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LONGS_EQUAL(Y.first, actKeys.front().first);
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LONGS_EQUAL(X.first, actKeys.back().first);
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vector<double> actCpt = sig.cpt();
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EXPECT_LONGS_EQUAL(6, actCpt.size());
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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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