295 lines
7.5 KiB
C++
295 lines
7.5 KiB
C++
/**
|
|
* @file testVector.cpp
|
|
* @brief Unit tests for Vector class
|
|
* @author Frank Dellaert
|
|
**/
|
|
|
|
#include <iostream>
|
|
#include <CppUnitLite/TestHarness.h>
|
|
#include <boost/tuple/tuple.hpp>
|
|
#include "Vector.h"
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, Vector_variants )
|
|
{
|
|
Vector a = Vector_(2,10.0,20.0);
|
|
double data[] = {10,20};
|
|
Vector b = Vector_(2,data);
|
|
CHECK(a==b);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, copy )
|
|
{
|
|
Vector a(2); a(0) = 10; a(1) = 20;
|
|
double data[] = {10,20};
|
|
Vector b(2); copy(data,data+2,b.begin());
|
|
CHECK(a==b);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, zero1 )
|
|
{
|
|
Vector v(2,0.0);
|
|
CHECK(zero(v)==true);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, zero2 )
|
|
{
|
|
Vector a = zero(2);
|
|
Vector b(2,0.0);
|
|
CHECK(a==b);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, scalar_multiply )
|
|
{
|
|
Vector a(2); a(0) = 10; a(1) = 20;
|
|
Vector b(2); b(0) = 1; b(1) = 2;
|
|
CHECK(a==b*10.0);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, scalar_divide )
|
|
{
|
|
Vector a(2); a(0) = 10; a(1) = 20;
|
|
Vector b(2); b(0) = 1; b(1) = 2;
|
|
CHECK(b==a/10.0);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, negate )
|
|
{
|
|
Vector a(2); a(0) = 10; a(1) = 20;
|
|
Vector b(2); b(0) = -10; b(1) = -20;
|
|
CHECK(b==-a);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, sub )
|
|
{
|
|
Vector a(6);
|
|
a(0) = 10; a(1) = 20; a(2) = 3;
|
|
a(3) = 34; a(4) = 11; a(5) = 2;
|
|
|
|
Vector result(sub(a,2,5));
|
|
|
|
Vector b(3);
|
|
b(0) = 3; b(1) = 34; b(2) =11;
|
|
|
|
CHECK(b==result);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, subInsert )
|
|
{
|
|
Vector big = zero(6),
|
|
small = ones(3);
|
|
|
|
size_t i = 2;
|
|
subInsert(big, small, i);
|
|
|
|
Vector expected = Vector_(6, 0.0, 0.0, 1.0, 1.0, 1.0, 0.0);
|
|
|
|
CHECK(assert_equal(expected, big));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, householder )
|
|
{
|
|
Vector x(4);
|
|
x(0) = 3; x(1) = 1; x(2) = 5; x(3) = 1;
|
|
|
|
Vector expected(4);
|
|
expected(0) = 1.0; expected(1) = -0.333333; expected(2) = -1.66667; expected(3) = -0.333333;
|
|
|
|
pair<double, Vector> result = house(x);
|
|
|
|
CHECK(result.first==0.5);
|
|
CHECK(equal_with_abs_tol(expected,result.second,1e-5));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, zeros )
|
|
{
|
|
Vector a(2); a(0) = 0; a(1) = 0;
|
|
Vector b(2,0.0);
|
|
CHECK(b==a);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, concatVectors)
|
|
{
|
|
Vector A(2);
|
|
for(int i = 0; i < 2; i++)
|
|
A(i) = i;
|
|
Vector B(5);
|
|
for(int i = 0; i < 5; i++)
|
|
B(i) = i;
|
|
|
|
Vector C(7);
|
|
for(int i = 0; i < 2; i++) C(i) = A(i);
|
|
for(int i = 0; i < 5; i++) C(i+2) = B(i);
|
|
|
|
list<Vector> vs;
|
|
vs.push_back(A);
|
|
vs.push_back(B);
|
|
Vector AB1 = concatVectors(vs);
|
|
CHECK(AB1 == C);
|
|
|
|
Vector AB2 = concatVectors(2, &A, &B);
|
|
CHECK(AB2 == C);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, weightedPseudoinverse )
|
|
{
|
|
// column from a matrix
|
|
Vector x(2);
|
|
x(0) = 1.0; x(1) = 2.0;
|
|
|
|
// create sigmas
|
|
Vector sigmas(2);
|
|
sigmas(0) = 0.1; sigmas(1) = 0.2;
|
|
Vector weights = reciprocal(emul(sigmas,sigmas));
|
|
|
|
// perform solve
|
|
Vector actual; double precision;
|
|
boost::tie(actual, precision) = weightedPseudoinverse(x, weights);
|
|
|
|
// construct expected
|
|
Vector expected(2);
|
|
expected(0) = 0.5; expected(1) = 0.25;
|
|
double expPrecision = 200.0;
|
|
|
|
// verify
|
|
CHECK(assert_equal(expected,actual));
|
|
CHECK(fabs(expPrecision-precision) < 1e-5);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, weightedPseudoinverse_constraint )
|
|
{
|
|
// column from a matrix
|
|
Vector x(2);
|
|
x(0) = 1.0; x(1) = 2.0;
|
|
|
|
// create sigmas
|
|
Vector sigmas(2);
|
|
sigmas(0) = 0.0; sigmas(1) = 0.2;
|
|
Vector weights = reciprocal(emul(sigmas,sigmas));
|
|
|
|
// perform solve
|
|
Vector actual; double precision;
|
|
boost::tie(actual, precision) = weightedPseudoinverse(x, weights);
|
|
|
|
// construct expected
|
|
Vector expected(2);
|
|
expected(0) = 1.0; expected(1) = 0.0;
|
|
|
|
// verify
|
|
CHECK(assert_equal(expected,actual));
|
|
CHECK(isinf(precision));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, weightedPseudoinverse_nan )
|
|
{
|
|
Vector a = Vector_(4, 1., 0., 0., 0.);
|
|
Vector sigmas = Vector_(4, 0.1, 0.1, 0., 0.);
|
|
Vector weights = reciprocal(emul(sigmas,sigmas));
|
|
Vector pseudo; double precision;
|
|
boost::tie(pseudo, precision) = weightedPseudoinverse(a, weights);
|
|
|
|
Vector expected = Vector_(4, 1., 0., 0.,0.);
|
|
CHECK(assert_equal(expected, pseudo));
|
|
DOUBLES_EQUAL(100, precision, 1e-5);
|
|
}
|
|
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, ediv )
|
|
{
|
|
Vector a = Vector_(3,10.,20.,30.);
|
|
Vector b = Vector_(3,2.0,5.0,6.0);
|
|
Vector actual(ediv(a,b));
|
|
|
|
Vector c = Vector_(3,5.0,4.0,5.0);
|
|
CHECK(assert_equal(c,actual));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, dot )
|
|
{
|
|
Vector a = Vector_(3,10.,20.,30.);
|
|
Vector b = Vector_(3,2.0,5.0,6.0);
|
|
DOUBLES_EQUAL(20+100+180,dot(a,b),1e-9);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, axpy )
|
|
{
|
|
Vector x = Vector_(3,10.,20.,30.);
|
|
Vector y = Vector_(3,2.0,5.0,6.0);
|
|
axpy(0.1,x,y);
|
|
Vector expected = Vector_(3,3.0,7.0,9.0);
|
|
CHECK(assert_equal(expected,y));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, equals )
|
|
{
|
|
Vector v1 = Vector_(1, 0.0/0.0); //testing nan
|
|
Vector v2 = Vector_(1, 1.0);
|
|
double tol = 1.;
|
|
CHECK(!equal_with_abs_tol(v1, v2, tol));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, greater_than )
|
|
{
|
|
Vector v1 = Vector_(3, 1.0, 2.0, 3.0),
|
|
v2 = zero(3);
|
|
CHECK(greaterThanOrEqual(v1, v1)); // test basic greater than
|
|
CHECK(greaterThanOrEqual(v1, v2)); // test equals
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, reciprocal )
|
|
{
|
|
Vector v = Vector_(3, 1.0, 2.0, 4.0);
|
|
CHECK(assert_equal(Vector_(3, 1.0, 0.5, 0.25),reciprocal(v)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, linear_dependent )
|
|
{
|
|
Vector v1 = Vector_(3, 1.0, 2.0, 3.0);
|
|
Vector v2 = Vector_(3, -2.0, -4.0, -6.0);
|
|
CHECK(linear_dependent(v1, v2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, linear_dependent2 )
|
|
{
|
|
Vector v1 = Vector_(3, 0.0, 2.0, 0.0);
|
|
Vector v2 = Vector_(3, 0.0, -4.0, 0.0);
|
|
CHECK(linear_dependent(v1, v2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TestVector, linear_dependent3 )
|
|
{
|
|
Vector v1 = Vector_(3, 0.0, 2.0, 0.0);
|
|
Vector v2 = Vector_(3, 0.1, -4.1, 0.0);
|
|
CHECK(!linear_dependent(v1, v2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
|
/* ************************************************************************* */
|