325 lines
8.6 KiB
C++
325 lines
8.6 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 testDSF.cpp
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* @date Mar 26, 2010
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* @author nikai
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* @brief unit tests for DSF
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*/
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#include <gtsam_unstable/base/DSF.h>
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#include <CppUnitLite/TestHarness.h>
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#include <iostream>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST(DSF, makeSet) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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LONGS_EQUAL(1, dsf.size());
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}
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/* ************************************************************************* */
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TEST(DSF, findSet) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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EXPECT(dsf.findSet(5) != dsf.findSet(7));
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}
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/* ************************************************************************* */
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TEST(DSF, makeUnion) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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dsf = dsf.makeUnion(5,7);
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EXPECT(dsf.findSet(5) == dsf.findSet(7));
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}
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/* ************************************************************************* */
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TEST(DSF, makeUnion2) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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dsf = dsf.makeUnion(7,5);
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EXPECT(dsf.findSet(5) == dsf.findSet(7));
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}
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/* ************************************************************************* */
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TEST(DSF, makeUnion3) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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dsf = dsf.makeUnion(5,6);
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dsf = dsf.makeUnion(6,7);
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EXPECT(dsf.findSet(5) == dsf.findSet(7));
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}
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/* ************************************************************************* */
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TEST(DSF, makePair) {
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DSFInt dsf;
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dsf = dsf.makePair(0, 1);
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dsf = dsf.makePair(1, 2);
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dsf = dsf.makePair(3, 2);
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EXPECT(dsf.findSet(0) == dsf.findSet(3));
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}
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/* ************************************************************************* */
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TEST(DSF, makeList) {
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DSFInt dsf;
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list<int> keys{5, 6, 7};
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dsf = dsf.makeList(keys);
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EXPECT(dsf.findSet(5) == dsf.findSet(7));
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}
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/* ************************************************************************* */
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TEST(DSF, numSets) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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dsf = dsf.makeUnion(5,6);
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LONGS_EQUAL(2, dsf.numSets());
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}
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/* ************************************************************************* */
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TEST(DSF, sets) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeUnion(5,6);
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map<int, set<int> > sets = dsf.sets();
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LONGS_EQUAL(1, sets.size());
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set<int> expected{5, 6};
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EXPECT(expected == sets[dsf.findSet(5)]);
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}
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/* ************************************************************************* */
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TEST(DSF, sets2) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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dsf = dsf.makeUnion(5,6);
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dsf = dsf.makeUnion(6,7);
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map<int, set<int> > sets = dsf.sets();
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LONGS_EQUAL(1, sets.size());
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set<int> expected{5, 6, 7};
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EXPECT(expected == sets[dsf.findSet(5)]);
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}
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/* ************************************************************************* */
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TEST(DSF, sets3) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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dsf = dsf.makeUnion(5,6);
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map<int, set<int> > sets = dsf.sets();
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LONGS_EQUAL(2, sets.size());
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set<int> expected{5, 6};
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EXPECT(expected == sets[dsf.findSet(5)]);
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}
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/* ************************************************************************* */
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TEST(DSF, partition) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeUnion(5,6);
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list<int> keys{5};
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map<int, set<int> > partitions = dsf.partition(keys);
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LONGS_EQUAL(1, partitions.size());
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set<int> expected{5};
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EXPECT(expected == partitions[dsf.findSet(5)]);
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}
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/* ************************************************************************* */
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TEST(DSF, partition2) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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dsf = dsf.makeUnion(5,6);
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list<int> keys{7};
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map<int, set<int> > partitions = dsf.partition(keys);
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LONGS_EQUAL(1, partitions.size());
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set<int> expected{7};
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EXPECT(expected == partitions[dsf.findSet(7)]);
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}
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/* ************************************************************************* */
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TEST(DSF, partition3) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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dsf = dsf.makeUnion(5,6);
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list<int> keys{5, 7};
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map<int, set<int> > partitions = dsf.partition(keys);
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LONGS_EQUAL(2, partitions.size());
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set<int> expected{5};
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EXPECT(expected == partitions[dsf.findSet(5)]);
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}
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/* ************************************************************************* */
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TEST(DSF, set) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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dsf = dsf.makeUnion(5,6);
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set<int> set = dsf.set(5);
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LONGS_EQUAL(2, set.size());
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std::set<int> expected{5, 6};
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EXPECT(expected == set);
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}
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/* ************************************************************************* */
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TEST(DSF, set2) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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dsf = dsf.makeUnion(5,6);
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dsf = dsf.makeUnion(6,7);
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set<int> set = dsf.set(5);
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LONGS_EQUAL(3, set.size());
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std::set<int> expected{5, 6, 7};
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EXPECT(expected == set);
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}
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/* ************************************************************************* */
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int func(const int& a) { return a + 10; }
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TEST(DSF, map) {
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DSFInt dsf;
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dsf = dsf.makeSet(5);
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dsf = dsf.makeSet(6);
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dsf = dsf.makeSet(7);
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dsf = dsf.makeUnion(5,6);
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DSFInt actual = dsf.map(&func);
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DSFInt expected;
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expected = expected.makeSet(15);
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expected = expected.makeSet(16);
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expected = expected.makeSet(17);
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expected = expected.makeUnion(15,16);
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EXPECT(actual == expected);
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}
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/* ************************************************************************* */
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TEST(DSF, flatten) {
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DSFInt dsf;
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dsf = dsf.makePair(1, 2);
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dsf = dsf.makePair(2, 3);
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dsf = dsf.makePair(5, 6);
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dsf = dsf.makePair(6, 7);
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dsf = dsf.makeUnion(2, 6);
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DSFInt actual = dsf.flatten();
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DSFInt expected;
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expected = expected.makePair(1, 2);
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expected = expected.makePair(1, 3);
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expected = expected.makePair(1, 5);
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expected = expected.makePair(1, 6);
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expected = expected.makePair(1, 7);
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EXPECT(actual == expected);
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}
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/* ************************************************************************* */
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TEST(DSF, flatten2) {
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static string x1("x1"), x2("x2"), x3("x3"), x4("x4");
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list<string> keys{x1, x2, x3, x4};
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DSF<string> dsf(keys);
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dsf = dsf.makeUnion(x1,x2);
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dsf = dsf.makeUnion(x3,x4);
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dsf = dsf.makeUnion(x1,x3);
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EXPECT(dsf != dsf.flatten());
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DSF<string> expected2;
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expected2 = expected2.makePair(x1, x2);
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expected2 = expected2.makePair(x1, x3);
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expected2 = expected2.makePair(x1, x4);
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EXPECT(expected2 == dsf.flatten());
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}
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/* ************************************************************************* */
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TEST(DSF, mergePairwiseMatches) {
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// Create some measurements with image index and feature index
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typedef pair<size_t,size_t> Measurement;
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Measurement m11(1,1),m12(1,2),m14(1,4); // in image 1
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Measurement m22(2,2),m23(2,3),m25(2,5),m26(2,6); // in image 2
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// Add them all
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list<Measurement> measurements{m11, m12, m14, m22, m23, m25, m26};
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// Create some "matches"
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typedef pair<Measurement,Measurement> Match;
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list<Match> matches{Match(m11, m22), Match(m12, m23), Match(m14, m25),
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Match(m14, m26)};
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// Merge matches
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DSF<Measurement> dsf(measurements);
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for(const Match& m: matches)
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dsf.makeUnionInPlace(m.first,m.second);
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// Check that sets are merged correctly
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EXPECT(dsf.findSet(m11)==m11);
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EXPECT(dsf.findSet(m12)==m12);
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EXPECT(dsf.findSet(m14)==m14);
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EXPECT(dsf.findSet(m22)==m11);
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EXPECT(dsf.findSet(m23)==m12);
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EXPECT(dsf.findSet(m25)==m14);
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EXPECT(dsf.findSet(m26)==m14);
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// Check that we have three connected components
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EXPECT_LONGS_EQUAL(3, dsf.numSets());
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set<Measurement> expected1{m11,m22};
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set<Measurement> actual1 = dsf.set(m11);
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EXPECT(expected1 == actual1);
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set<Measurement> expected2{m12,m23};
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set<Measurement> actual2 = dsf.set(m12);
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EXPECT(expected2 == actual2);
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set<Measurement> expected3{m14,m25,m26};
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set<Measurement> actual3 = dsf.set(m14);
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EXPECT(expected3 == actual3);
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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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