2010-02-21 08:01:43 +08:00
|
|
|
/*
|
|
|
|
|
* testErrors.cpp
|
|
|
|
|
*
|
|
|
|
|
* Created on: Feb 20, 2010
|
|
|
|
|
* @Author: Frank Dellaert
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
#include <boost/assign/std/list.hpp> // for +=
|
|
|
|
|
using namespace boost::assign;
|
|
|
|
|
|
2010-08-20 01:23:19 +08:00
|
|
|
#include <gtsam/CppUnitLite/TestHarness.h>
|
|
|
|
|
#include <gtsam/linear/Errors.h>
|
2010-02-21 08:01:43 +08:00
|
|
|
|
|
|
|
|
using namespace std;
|
|
|
|
|
using namespace gtsam;
|
|
|
|
|
|
|
|
|
|
/* ************************************************************************* */
|
|
|
|
|
TEST( Errors, arithmetic )
|
|
|
|
|
{
|
|
|
|
|
Errors e;
|
|
|
|
|
e += Vector_(2,1.0,2.0), Vector_(3,3.0,4.0,5.0);
|
|
|
|
|
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), Vector_(3,9.0,12.0,15.0);
|
|
|
|
|
CHECK(assert_equal(expected,e));
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/* ************************************************************************* */
|
|
|
|
|
int main() {
|
|
|
|
|
TestResult tr;
|
|
|
|
|
return TestRegistry::runAllTests(tr);
|
|
|
|
|
}
|
|
|
|
|
/* ************************************************************************* */
|
