72 lines
1.6 KiB
C++
72 lines
1.6 KiB
C++
/**
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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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// \callgraph
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#pragma once
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#include <boost/shared_ptr.hpp>
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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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public:
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virtual ~Testable() {};
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/**
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* print
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* @param s optional string naming the object
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*/
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virtual 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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*/
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virtual bool equals(const Derived& expected, double tol) const = 0;
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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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bool equals(const V& expected, const V& actual, double tol = 1e-9) {
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return (actual.equals(expected, tol));
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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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bool equals_star(const boost::shared_ptr<V>& expected,
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const boost::shared_ptr<V>& actual, double tol = 1e-9) {
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return (actual->equals(*expected, tol));
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}
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} // gtsam
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