gtsam/gtsam/linear/tests/testErrors.cpp

/* ----------------------------------------------------------------------------

 * 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

 * -------------------------------------------------------------------------- */

/**
 * @file testErrors.cpp
 * @date Feb 20, 2010
 * @author Frank Dellaert
 */

#include <boost/assign/std/list.hpp> // for +=
using namespace boost::assign;

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/linear/Errors.h>

using namespace std;
using namespace gtsam;

/* ************************************************************************* */
TEST( Errors, arithmetic )
{
  Errors e;
  e += (Vector(2) << 1.0,2.0).finished(), (Vector(3) << 3.0,4.0,5.0).finished();
  DOUBLES_EQUAL(1+4+9+16+25,dot(e,e),1e-9);

  axpy(2.0,e,e);
  Errors expected;
  expected += (Vector(2) << 3.0,6.0).finished(), (Vector(3) << 9.0,12.0,15.0).finished();
  CHECK(assert_equal(expected,e));
}

/* ************************************************************************* */
int main() {
  TestResult tr;
  return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */