44 lines
1.3 KiB
C++
44 lines
1.3 KiB
C++
/**
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* @file timeLinearFactorGraph.cpp
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* @brief Time elimination with simple Kalman Smoothing example
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* @author Frank Dellaert
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*/
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#include <time.h>
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#include <CppUnitLite/TestHarness.h>
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#include "SmallExample.h"
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#include "Ordering.h"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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// Create a Kalman smoother for t=1:T and optimize
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double timeKalmanSmoother(int T) {
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LinearFactorGraph smoother = createSmoother(T);
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Ordering ordering;
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for (int t = 1; t <= T; t++) ordering.push_back(symbol('x',t));
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clock_t start = clock();
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smoother.optimize(ordering);
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clock_t end = clock ();
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double dif = (double)(end - start) / CLOCKS_PER_SEC;
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return dif;
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}
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/* ************************************************************************* */
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TEST(timeLinearFactorGraph, linearTime)
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{
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int T = 1000;
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double time1 = timeKalmanSmoother( T); // cout << time1 << endl;
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double time2 = timeKalmanSmoother(2*T); // cout << time2 << endl;
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DOUBLES_EQUAL(2*time1,time2,0.001);
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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TestRegistry::runAllTests(tr);
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return 0;
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}
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/* ************************************************************************* */
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