2010-10-14 12:54:38 +08:00
|
|
|
/* ----------------------------------------------------------------------------
|
|
|
|
|
|
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
|
|
|
* Atlanta, Georgia 30332-0415
|
|
|
|
|
* All Rights Reserved
|
|
|
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
|
|
|
|
|
|
* See LICENSE for the license information
|
|
|
|
|
|
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
|
|
2010-10-09 06:04:47 +08:00
|
|
|
/**
|
|
|
|
|
* @file testVariableIndex.cpp
|
|
|
|
|
* @brief
|
|
|
|
|
* @author Richard Roberts
|
|
|
|
|
* @created Sep 26, 2010
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
#include <gtsam/CppUnitLite/TestHarness.h>
|
|
|
|
|
#include <gtsam/base/TestableAssertions.h>
|
|
|
|
|
|
|
|
|
|
#include <gtsam/inference/VariableIndex.h>
|
|
|
|
|
#include <gtsam/inference/SymbolicFactorGraph.h>
|
|
|
|
|
|
|
|
|
|
using namespace gtsam;
|
|
|
|
|
|
|
|
|
|
/* ************************************************************************* */
|
|
|
|
|
TEST(VariableIndex, augment) {
|
|
|
|
|
|
|
|
|
|
SymbolicFactorGraph fg1, fg2;
|
|
|
|
|
fg1.push_factor(0, 1);
|
|
|
|
|
fg1.push_factor(0, 2);
|
|
|
|
|
fg1.push_factor(5, 9);
|
|
|
|
|
fg1.push_factor(2, 3);
|
|
|
|
|
fg2.push_factor(1, 3);
|
|
|
|
|
fg2.push_factor(2, 4);
|
|
|
|
|
fg2.push_factor(3, 5);
|
|
|
|
|
fg2.push_factor(5, 6);
|
|
|
|
|
|
|
|
|
|
SymbolicFactorGraph fgCombined; fgCombined.push_back(fg1); fgCombined.push_back(fg2);
|
|
|
|
|
|
|
|
|
|
VariableIndex<> expected(fgCombined);
|
|
|
|
|
VariableIndex<> actual(fg1);
|
|
|
|
|
actual.augment(fg2);
|
|
|
|
|
|
|
|
|
|
CHECK(assert_equal(expected, actual));
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/* ************************************************************************* */
|
|
|
|
|
int main() {
|
|
|
|
|
TestResult tr;
|
|
|
|
|
return TestRegistry::runAllTests(tr);
|
|
|
|
|
}
|
|
|
|
|
/* ************************************************************************* */
|
