105 lines
3.0 KiB
C++
105 lines
3.0 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 Testable
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* @brief Abstract base class for values that can be used in unit tests
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* @author Frank Dellaert
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*
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* The necessary functions to implement for Testable are defined
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* below with additional details as to the interface.
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* The concept checking function will check whether or not
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* the function exists in derived class and throw compile-time errors.
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*
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* print with optional string naming the object
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* void print(const std::string& name) const = 0;
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*
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* equality up to tolerance
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* tricky to implement, see NonlinearFactor1 for an example
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* equals is not supposed to print out *anything*, just return true|false
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* bool equals(const Derived& expected, double tol) const = 0;
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*
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*/
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// \callgraph
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#pragma once
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#include <boost/shared_ptr.hpp>
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#include <stdio.h>
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#define GTSAM_PRINT(x)((x).print(#x))
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namespace gtsam {
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/**
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* The Testable class should be templated with the derived class, e.g.
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* class Rot3 : public Testable<Rot3>. This allows us to define the
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* input type of equals as a Rot3 as well.
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*/
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template <class Derived>
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class Testable {
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private:
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/**
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* This concept check is to make sure these methods exist in derived classes
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* This is as an alternative to declaring those methods virtual, which is slower
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*/
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static void concept(const Derived& d) {
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const Derived *const_derived = static_cast<Derived*>(&d);
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const_derived->print(std::string());
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const_derived->print();
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bool r;
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r = const_derived->equals(*const_derived, 1.0);
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r = const_derived->equals(*const_derived);
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}
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}; // Testable class
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/**
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* This template works for any type with equals
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*/
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template<class V>
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bool assert_equal(const V& expected, const V& actual, double tol = 1e-9) {
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if (actual.equals(expected, tol))
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return true;
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printf("Not equal:\n");
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expected.print("expected");
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actual.print("actual");
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return false;
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}
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/**
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* Template to create a binary predicate
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*/
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template<class V>
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struct equals : public std::binary_function<const V&, const V&, bool> {
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double tol_;
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equals(double tol = 1e-9) : tol_(tol) {}
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bool operator()(const V& expected, const V& actual) {
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return (actual.equals(expected, tol_));
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}
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};
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/**
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* Binary predicate on shared pointers
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*/
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template<class V>
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struct equals_star : public std::binary_function<const boost::shared_ptr<V>&, const boost::shared_ptr<V>&, bool> {
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double tol_;
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equals_star(double tol = 1e-9) : tol_(tol) {}
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bool operator()(const boost::shared_ptr<V>& expected, const boost::shared_ptr<V>& actual) {
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return (actual->equals(*expected, tol_));
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}
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};
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} // gtsam
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