59 lines
1.6 KiB
C++
59 lines
1.6 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 testHybridValues.cpp
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* @date Jul 28, 2022
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* @author Shangjie Xue
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*/
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam/discrete/Assignment.h>
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#include <gtsam/discrete/DiscreteKey.h>
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#include <gtsam/discrete/DiscreteValues.h>
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#include <gtsam/hybrid/HybridValues.h>
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#include <gtsam/inference/Key.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/linear/VectorValues.h>
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#include <gtsam/nonlinear/Values.h>
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// Include for test suite
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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TEST(HybridValues, basics) {
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HybridValues values;
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values.insert(99, Vector2(2, 3));
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values.insert(100, 3);
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EXPECT(assert_equal(values.at(99), Vector2(2, 3)));
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EXPECT(assert_equal(values.atDiscrete(100), int(3)));
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values.print();
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HybridValues values2;
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values2.insert(100, 3);
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values2.insert(99, Vector2(2, 3));
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EXPECT(assert_equal(values2, values));
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values2.insert(98, Vector2(2, 3));
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EXPECT(!assert_equal(values2, values));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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