154 lines
3.6 KiB
C++
154 lines
3.6 KiB
C++
/**
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* @file testVector.cpp
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* @brief Unit tests for Vector class
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* @author Frank Dellaert
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**/
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#include <iostream>
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#include <CppUnitLite/TestHarness.h>
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#include <boost/tuple/tuple.hpp>
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#include "Vector.h"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( TestVector, Vector_variants )
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{
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Vector a = Vector_(2,10.0,20.0);
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double data[] = {10,20};
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Vector b = Vector_(2,data);
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CHECK(a==b);
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}
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/* ************************************************************************* */
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TEST( TestVector, copy )
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{
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Vector a(2); a(0) = 10; a(1) = 20;
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double data[] = {10,20};
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Vector b(2); copy(data,data+2,b.begin());
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CHECK(a==b);
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}
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/* ************************************************************************* */
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TEST( TestVector, zero1 )
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{
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Vector v(2,0.0);
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CHECK(zero(v)==true);
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}
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/* ************************************************************************* */
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TEST( TestVector, zero2 )
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{
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Vector a = zero(2);
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Vector b(2,0.0);
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CHECK(a==b);
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}
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/* ************************************************************************* */
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TEST( TestVector, scalar_multiply )
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{
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Vector a(2); a(0) = 10; a(1) = 20;
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Vector b(2); b(0) = 1; b(1) = 2;
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CHECK(a==b*10.0);
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}
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/* ************************************************************************* */
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TEST( TestVector, scalar_divide )
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{
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Vector a(2); a(0) = 10; a(1) = 20;
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Vector b(2); b(0) = 1; b(1) = 2;
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CHECK(b==a/10.0);
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}
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/* ************************************************************************* */
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TEST( TestVector, negate )
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{
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Vector a(2); a(0) = 10; a(1) = 20;
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Vector b(2); b(0) = -10; b(1) = -20;
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CHECK(b==-a);
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}
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/* ************************************************************************* */
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TEST( TestVector, sub )
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{
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Vector a(6);
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a(0) = 10; a(1) = 20; a(2) = 3;
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a(3) = 34; a(4) = 11; a(5) = 2;
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Vector result(sub(a,2,5));
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Vector b(3);
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b(0) = 3; b(1) = 34; b(2) =11;
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CHECK(b==result);
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}
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/* ************************************************************************* */
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TEST( TestVector, householder )
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{
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Vector x(4);
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x(0) = 3; x(1) = 1; x(2) = 5; x(3) = 1;
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Vector expected(4);
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expected(0) = 1.0; expected(1) = -0.333333; expected(2) = -1.66667; expected(3) = -0.333333;
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pair<double, Vector> result = house(x);
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CHECK(result.first==0.5);
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CHECK(equal_with_abs_tol(expected,result.second,1e-5));
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}
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/* ************************************************************************* */
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TEST( TestVector, zeros )
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{
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Vector a(2); a(0) = 0; a(1) = 0;
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Vector b(2,0.0);
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CHECK(b==a);
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}
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/* ************************************************************************* */
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TEST( TestVector, concatVectors)
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{
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Vector A(2);
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for(int i = 0; i < 2; i++)
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A(i) = i;
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Vector B(5);
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for(int i = 0; i < 5; i++)
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B(i) = i;
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Vector C(7);
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for(int i = 0; i < 2; i++) C(i) = A(i);
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for(int i = 0; i < 5; i++) C(i+2) = B(i);
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Vector AB = concatVectors(2, &A, &B);
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CHECK(AB == C);
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}
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/* ************************************************************************* */
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TEST( TestVector, whouse_solve )
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{
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// column from a matrix
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Vector x(2);
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x(0) = 1.0; x(1) = 2.0;
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// create precisions - correspond to sigmas = [0.1 0.2]
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Vector tau(2);
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tau(0) = 100; tau(1) = 25;
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// perform solve
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Vector act = whouse_solve(x, tau);
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// construct expected
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Vector exp(2);
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exp(0) = 1.0/3.0; exp(1) = 1.0/3.0;
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// verify
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CHECK(assert_equal(act, exp));
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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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