105 lines
3.2 KiB
C++
105 lines
3.2 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 testVectorValues.cpp
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* @author Richard Roberts
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* @date Sep 16, 2010
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*/
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#include <boost/assign/std/vector.hpp>
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#include <gtsam/base/Testable.h>
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#include <gtsam/linear/VectorValuesUnordered.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace boost::assign;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST(VectorValues, insert) {
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// insert
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VectorValuesUnordered actual;
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actual.insert(0, Vector_(1, 1.0));
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actual.insert(1, Vector_(2, 2.0, 3.0));
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actual.insert(5, Vector_(2, 6.0, 7.0));
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actual.insert(2, Vector_(2, 4.0, 5.0));
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// Check dimensions
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LONGS_EQUAL(6, actual.size());
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LONGS_EQUAL(1, actual.dim(0));
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LONGS_EQUAL(2, actual.dim(1));
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LONGS_EQUAL(2, actual.dim(2));
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LONGS_EQUAL(2, actual.dim(5));
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// Logic
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EXPECT(actual.exists(0));
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EXPECT(actual.exists(1));
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EXPECT(actual.exists(2));
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EXPECT(!actual.exists(3));
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EXPECT(!actual.exists(4));
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EXPECT(actual.exists(5));
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EXPECT(!actual.exists(6));
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// Check values
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EXPECT(assert_equal(Vector_(1, 1.0), actual[0]));
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EXPECT(assert_equal(Vector_(2, 2.0, 3.0), actual[1]));
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EXPECT(assert_equal(Vector_(2, 4.0, 5.0), actual[2]));
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EXPECT(assert_equal(Vector_(2, 6.0, 7.0), actual[5]));
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EXPECT(assert_equal(Vector_(7, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0), actual.asVector()));
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// Check exceptions
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CHECK_EXCEPTION(actual.insert(1, Vector()), invalid_argument);
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CHECK_EXCEPTION(actual.dim(3), out_of_range);
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}
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/* ************************************************************************* */
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TEST(VectorValues, combine) {
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VectorValuesUnordered expected;
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expected.insert(0, Vector_(1, 1.0));
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expected.insert(1, Vector_(2, 2.0, 3.0));
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expected.insert(5, Vector_(2, 6.0, 7.0));
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expected.insert(2, Vector_(2, 4.0, 5.0));
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VectorValuesUnordered first;
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first.insert(0, Vector_(1, 1.0));
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first.insert(1, Vector_(2, 2.0, 3.0));
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VectorValuesUnordered second;
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second.insert(5, Vector_(2, 6.0, 7.0));
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second.insert(2, Vector_(2, 4.0, 5.0));
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VectorValuesUnordered actual(first, second);
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EXPECT(assert_equal(expected, actual));
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}
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/* ************************************************************************* */
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TEST(VectorValues, subvector) {
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VectorValuesUnordered init;
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init.insert(0, Vector_(1, 1.0));
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init.insert(1, Vector_(2, 2.0, 3.0));
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init.insert(2, Vector_(2, 4.0, 5.0));
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init.insert(3, Vector_(2, 6.0, 7.0));
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std::vector<Key> keys;
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keys += 0, 2, 3;
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Vector expSubVector = Vector_(5, 1.0, 4.0, 5.0, 6.0, 7.0);
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EXPECT(assert_equal(expSubVector, init.vector(keys)));
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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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