43 lines
1.3 KiB
C++
43 lines
1.3 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 testGaussianDensity.cpp
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* @brief Unit tests for Gaussian Density
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* @author Frank Dellaert
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* @date Jan 21, 2012
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**/
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#include <gtsam/linear/GaussianDensity.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace gtsam;
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using namespace std;
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/* ************************************************************************* */
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TEST(GaussianDensity, constructor)
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{
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Matrix R = Matrix_(2,2,
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-12.1244, -5.1962,
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0., 4.6904);
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Vector d = Vector_(2, 1.0, 2.0), s = Vector_(2, 3.0, 4.0);
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GaussianConditional conditional(1, d, R, s);
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GaussianDensity copied(conditional);
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EXPECT(assert_equal(d, copied.get_d()));
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EXPECT(assert_equal(s, copied.get_sigmas()));
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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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