50 lines
1.3 KiB
C++
50 lines
1.3 KiB
C++
/**
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* @file testPoint2.cpp
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* @brief Unit tests for Point2 class
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* @author Frank Dellaert
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**/
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#include <CppUnitLite/TestHarness.h>
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#include "Point2.h"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( Point2, expmap)
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{
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Vector d(2);
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d(0) = 1;
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d(1) = -1;
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Point2 a(4, 5), b = expmap(a, d), c(5, 4);
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CHECK(assert_equal(b,c));
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}
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/* ************************************************************************* */
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TEST( Point2, arithmetic)
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{
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CHECK(assert_equal( Point2(-5,-6), -Point2(5,6) ));
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CHECK(assert_equal( Point2(5,6), Point2(4,5)+Point2(1,1)));
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CHECK(assert_equal( Point2(3,4), Point2(4,5)-Point2(1,1) ));
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CHECK(assert_equal( Point2(8,6), Point2(4,3)*2));
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CHECK(assert_equal( Point2(4,6), 2*Point2(2,3)));
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CHECK(assert_equal( Point2(2,3), Point2(4,6)/2));
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}
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/* ************************************************************************* */
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TEST( Point2, norm)
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{
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Point2 p0(cos(5), sin(5));
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DOUBLES_EQUAL(1,p0.norm(),1e-6);
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Point2 p1(4, 5), p2(1, 1);
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DOUBLES_EQUAL( 5,p1.dist(p2),1e-6);
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DOUBLES_EQUAL( 5,(p2-p1).norm(),1e-6);
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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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