261 lines
7.1 KiB
C++
261 lines
7.1 KiB
C++
/*
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* testLieConfig.cpp
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*
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* Created on: Jan 5, 2010
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* Author: richard
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*/
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <stdexcept>
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#include <limits>
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#include <gtsam/nonlinear/LieConfig-inl.h>
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#include <gtsam/base/LieVector.h>
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using namespace gtsam;
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using namespace std;
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static double inf = std::numeric_limits<double>::infinity();
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typedef TypedSymbol<Vector, 'v'> VecKey;
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typedef LieConfig<VecKey> Config;
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VecKey key1(1), key2(2), key3(3), key4(4);
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/* ************************************************************************* */
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TEST( LieConfig, equals1 )
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{
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Config expected;
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Vector v = Vector_(3, 5.0, 6.0, 7.0);
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expected.insert(key1,v);
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Config actual;
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actual.insert(key1,v);
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CHECK(assert_equal(expected,actual));
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}
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/* ************************************************************************* */
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TEST( LieConfig, equals2 )
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{
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Config cfg1, cfg2;
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Vector v1 = Vector_(3, 5.0, 6.0, 7.0);
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Vector v2 = Vector_(3, 5.0, 6.0, 8.0);
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cfg1.insert(key1, v1);
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cfg2.insert(key1, v2);
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CHECK(!cfg1.equals(cfg2));
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CHECK(!cfg2.equals(cfg1));
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}
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/* ************************************************************************* */
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TEST( LieConfig, equals_nan )
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{
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Config cfg1, cfg2;
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Vector v1 = Vector_(3, 5.0, 6.0, 7.0);
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Vector v2 = Vector_(3, inf, inf, inf);
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cfg1.insert(key1, v1);
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cfg2.insert(key1, v2);
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CHECK(!cfg1.equals(cfg2));
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CHECK(!cfg2.equals(cfg1));
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}
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/* ************************************************************************* */
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TEST( LieConfig, insert_config )
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{
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Config cfg1, cfg2, expected;
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Vector v1 = Vector_(3, 5.0, 6.0, 7.0);
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Vector v2 = Vector_(3, 8.0, 9.0, 1.0);
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Vector v3 = Vector_(3, 2.0, 4.0, 3.0);
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Vector v4 = Vector_(3, 8.0, 3.0, 7.0);
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cfg1.insert(key1, v1);
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cfg1.insert(key2, v2);
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cfg2.insert(key2, v3);
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cfg2.insert(key3, v4);
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cfg1.insert(cfg2);
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expected.insert(key1, v1);
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expected.insert(key2, v2);
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expected.insert(key2, v3);
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expected.insert(key3, v4);
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CHECK(assert_equal(cfg1, expected));
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}
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/* ************************************************************************* */
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TEST( LieConfig, update_element )
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{
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Config cfg;
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Vector v1 = Vector_(3, 5.0, 6.0, 7.0);
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Vector v2 = Vector_(3, 8.0, 9.0, 1.0);
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cfg.insert(key1, v1);
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CHECK(cfg.size() == 1);
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CHECK(assert_equal(v1, cfg.at(key1)));
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cfg.update(key1, v2);
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CHECK(cfg.size() == 1);
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CHECK(assert_equal(v2, cfg.at(key1)));
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}
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/* ************************************************************************* */
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TEST(LieConfig, dim_zero)
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{
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Config config0;
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config0.insert(key1, Vector_(2, 2.0, 3.0));
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config0.insert(key2, Vector_(3, 5.0, 6.0, 7.0));
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LONGS_EQUAL(5,config0.dim());
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VectorConfig expected;
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expected.insert(key1, zero(2));
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expected.insert(key2, zero(3));
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CHECK(assert_equal(expected, config0.zero()));
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}
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/* ************************************************************************* */
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TEST(LieConfig, expmap_a)
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{
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Config config0;
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config0.insert(key1, Vector_(3, 1.0, 2.0, 3.0));
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config0.insert(key2, Vector_(3, 5.0, 6.0, 7.0));
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VectorConfig increment;
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increment.insert(key1, Vector_(3, 1.0, 1.1, 1.2));
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increment.insert(key2, Vector_(3, 1.3, 1.4, 1.5));
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Config expected;
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expected.insert(key1, Vector_(3, 2.0, 3.1, 4.2));
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expected.insert(key2, Vector_(3, 6.3, 7.4, 8.5));
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CHECK(assert_equal(expected, expmap(config0, increment)));
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}
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/* ************************************************************************* */
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TEST(LieConfig, expmap_b)
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{
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Config config0;
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config0.insert(key1, Vector_(3, 1.0, 2.0, 3.0));
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config0.insert(key2, Vector_(3, 5.0, 6.0, 7.0));
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VectorConfig increment;
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increment.insert(key2, Vector_(3, 1.3, 1.4, 1.5));
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Config expected;
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expected.insert(key1, Vector_(3, 1.0, 2.0, 3.0));
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expected.insert(key2, Vector_(3, 6.3, 7.4, 8.5));
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CHECK(assert_equal(expected, expmap(config0, increment)));
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}
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/* ************************************************************************* */
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TEST(LieConfig, expmap_c)
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{
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Config config0;
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config0.insert(key1, Vector_(3, 1.0, 2.0, 3.0));
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config0.insert(key2, Vector_(3, 5.0, 6.0, 7.0));
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Vector increment = Vector_(6,
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1.0, 1.1, 1.2,
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1.3, 1.4, 1.5);
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Config expected;
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expected.insert(key1, Vector_(3, 2.0, 3.1, 4.2));
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expected.insert(key2, Vector_(3, 6.3, 7.4, 8.5));
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CHECK(assert_equal(expected, expmap(config0, increment)));
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}
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/* ************************************************************************* */
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/*TEST(LieConfig, expmap_d)
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{
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Config config0;
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config0.insert(key1, Vector_(3, 1.0, 2.0, 3.0));
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config0.insert(key2, Vector_(3, 5.0, 6.0, 7.0));
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//config0.print("config0");
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CHECK(equal(config0, config0));
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CHECK(config0.equals(config0));
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LieConfig<string,Pose2> poseconfig;
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poseconfig.insert("p1", Pose2(1,2,3));
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poseconfig.insert("p2", Pose2(0.3, 0.4, 0.5));
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//poseconfig.print("poseconfig");
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CHECK(equal(config0, config0));
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CHECK(config0.equals(config0));
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}*/
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/* ************************************************************************* */
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/*TEST(LieConfig, extract_keys)
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{
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typedef TypedSymbol<Pose2, 'x'> PoseKey;
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LieConfig<PoseKey, Pose2> config;
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config.insert(PoseKey(1), Pose2());
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config.insert(PoseKey(2), Pose2());
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config.insert(PoseKey(4), Pose2());
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config.insert(PoseKey(5), Pose2());
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list<PoseKey> expected, actual;
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expected += PoseKey(1), PoseKey(2), PoseKey(4), PoseKey(5);
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actual = config.keys();
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CHECK(actual.size() == expected.size());
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list<PoseKey>::const_iterator itAct = actual.begin(), itExp = expected.begin();
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for (; itAct != actual.end() && itExp != expected.end(); ++itAct, ++itExp) {
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CHECK(assert_equal(*itExp, *itAct));
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}
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}*/
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/* ************************************************************************* */
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TEST(LieConfig, exists_)
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{
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Config config0;
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config0.insert(key1, Vector_(1, 1.));
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config0.insert(key2, Vector_(1, 2.));
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boost::optional<Vector> v = config0.exists_(key1);
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CHECK(assert_equal(Vector_(1, 1.),*v));
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}
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/* ************************************************************************* */
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TEST(LieConfig, update)
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{
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Config config0;
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config0.insert(key1, Vector_(1, 1.));
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config0.insert(key2, Vector_(1, 2.));
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Config superset;
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superset.insert(key1, Vector_(1, -1.));
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superset.insert(key2, Vector_(1, -2.));
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superset.insert(key3, Vector_(1, -3.));
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config0.update(superset);
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Config expected;
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expected.insert(key1, Vector_(1, -1.));
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expected.insert(key2, Vector_(1, -2.));
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CHECK(assert_equal(expected,config0));
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}
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/* ************************************************************************* */
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TEST(LieConfig, dummy_initialization)
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{
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typedef TypedSymbol<Vector, 'z'> Key;
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typedef LieConfig<Key> Config1;
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Config1 init1;
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init1.insert(Key(1), Vector_(2, 1.0, 2.0));
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init1.insert(Key(2), Vector_(2, 4.0, 3.0));
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Config init2;
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init2.insert(key1, Vector_(2, 1.0, 2.0));
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init2.insert(key2, Vector_(2, 4.0, 3.0));
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Config1 actual1(init2);
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Config actual2(init1);
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EXPECT(actual1.empty());
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EXPECT(actual2.empty());
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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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