100 lines
2.6 KiB
C++
100 lines
2.6 KiB
C++
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/**
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* @file testFGConfig.cpp
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* @brief Unit tests for Factor Graph Configuration
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* @author Carlos Nieto
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**/
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/*STL/C++*/
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#include <iostream>
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#include <sstream>
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//#include TEST_AC_DEFINE
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#ifdef HAVE_BOOST_SERIALIZATION
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#include <boost/archive/text_oarchive.hpp>
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#include <boost/archive/text_iarchive.hpp>
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#endif //HAVE_BOOST_SERIALIZATION
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#include <CppUnitLite/TestHarness.h>
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#include "Matrix.h"
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#include "FGConfig.h"
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#include "smallExample.cpp"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( FGConfig, equals )
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{
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FGConfig expected;
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Vector v = Vector_(3, 5.0, 6.0, 7.0);
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expected.insert("a",v);
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FGConfig actual;
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actual.insert("a",v);
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CHECK(actual.equals(expected));
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}
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/* ************************************************************************* */
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TEST( FGConfig, contains)
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{
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FGConfig fg;
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Vector v = Vector_(3, 5.0, 6.0, 7.0);
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fg.insert("ali", v);
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CHECK(fg.contains("ali"));
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CHECK(!fg.contains("gholi"));
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}
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/* ************************************************************************* */
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TEST( FGConfig, plus)
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{
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FGConfig fg;
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Vector vx = Vector_(3, 5.0, 6.0, 7.0), vy = Vector_(2, 8.0, 9.0);
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fg.insert("x", vx).insert("y",vy);
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FGConfig delta;
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Vector dx = Vector_(3, 1.0, 1.0, 1.0), dy = Vector_(2, -1.0, -1.0);
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delta.insert("x", dx).insert("y",dy);
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FGConfig expected;
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Vector wx = Vector_(3, 6.0, 7.0, 8.0), wy = Vector_(2, 7.0, 8.0);
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expected.insert("x", wx).insert("y",wy);
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// functional
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FGConfig actual = fg + delta;
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CHECK(actual.equals(expected));
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// inplace
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fg += delta;
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CHECK(fg.equals(expected));
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}
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/* ************************************************************************* */
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#ifdef HAVE_BOOST_SERIALIZATION
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TEST( FGConfig, serialize)
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{
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//DEBUG:
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cout << "FGConfig: Running Serialization Test" << endl;
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//create an FGConfig
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FGConfig fg = createConfig();
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//serialize the config
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std::ostringstream in_archive_stream;
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boost::archive::text_oarchive in_archive(in_archive_stream);
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in_archive << fg;
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std::string serialized_fgc = in_archive_stream.str();
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//deserialize the config
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std::istringstream out_archive_stream(serialized_fgc);
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boost::archive::text_iarchive out_archive(out_archive_stream);
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FGConfig output;
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out_archive >> output;
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//check for equality
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CHECK(fg.equals(output));
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}
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#endif //HAVE_BOOST_SERIALIZATION
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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