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re-enable all tests. Disable printing. Fixing bad names due to unintentional global replace

release/4.3a0
Duy-Nguyen Ta 2015-05-15 08:57:43 -04:00
parent 827caf1793
commit 58de1ac296
1 changed files with 14 additions and 12 deletions
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26
gtsam_unstable/linear/tests/testLPSolver.cpp
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@ -10,8 +10,8 @@
* -------------------------------------------------------------------------- */ * -------------------------------------------------------------------------- */
/** /**
* @file TEST_DISABLEDQPSolver.cpp * @file testQPSolver.cpp
* @brief TEST_DISABLED simple QP solver for a linear inequality constraint * @brief Test simple QP solver for a linear inequality constraint
* @date Apr 10, 2014 * @date Apr 10, 2014
* @author Duy-Nguyen Ta * @author Duy-Nguyen Ta
*/ */
@ -196,7 +196,7 @@ public:
//****************************************************************************** //******************************************************************************
LPState iterate(const LPState& state) const { LPState iterate(const LPState& state) const {
static bool debug = true; static bool debug = false;
// Solve with the current working set // Solve with the current working set
// LP: project the objective neggradient to the constraint's null space // LP: project the objective neggradient to the constraint's null space
@ -250,7 +250,7 @@ public:
int factorIx; int factorIx;
VectorValues p = newValues - state.values; VectorValues p = newValues - state.values;
boost::tie(alpha, factorIx) = // using 16.41 boost::tie(alpha, factorIx) = // using 16.41
compuTEST_DISABLEDepSize(state.workingSet, state.values, p); computeStepSize(state.workingSet, state.values, p);
if (debug) cout << "alpha, factorIx: " << alpha << " " << factorIx << " " if (debug) cout << "alpha, factorIx: " << alpha << " " << factorIx << " "
<< endl; << endl;
@ -384,7 +384,7 @@ public:
} }
//****************************************************************************** //******************************************************************************
std::pair<double, int> compuTEST_DISABLEDepSize( std::pair<double, int> computeStepSize(
const InequalityFactorGraph& workingSet, const VectorValues& xk, const InequalityFactorGraph& workingSet, const VectorValues& xk,
const VectorValues& p) const { const VectorValues& p) const {
static bool debug = false; static bool debug = false;
@ -706,12 +706,12 @@ TEST(LPInitSolverMatlab, initialization) {
/* ************************************************************************* */ /* ************************************************************************* */
/** /**
* TEST_DISABLED gtsam solver with an over-constrained system * TEST gtsam solver with an over-constrained system
* x + y = 1 * x + y = 1
* x - y = 5 * x - y = 5
* x + 2y = 6 * x + 2y = 6
*/ */
TEST_DISABLED(LPSolver, overConstrainedLinearSystem) { TEST(LPSolver, overConstrainedLinearSystem) {
GaussianFactorGraph graph; GaussianFactorGraph graph;
Matrix A1 = (Matrix(3,1) <<1,1,1).finished(); Matrix A1 = (Matrix(3,1) <<1,1,1).finished();
Matrix A2 = (Matrix(3,1) <<1,-1,2).finished(); Matrix A2 = (Matrix(3,1) <<1,-1,2).finished();
@ -724,7 +724,7 @@ TEST_DISABLED(LPSolver, overConstrainedLinearSystem) {
CHECK(factor.error(x) != 0.0); CHECK(factor.error(x) != 0.0);
} }
TEST_DISABLED(LPSolver, overConstrainedLinearSystem2) { TEST(LPSolver, overConstrainedLinearSystem2) {
GaussianFactorGraph graph; GaussianFactorGraph graph;
graph.push_back(JacobianFactor(1, ones(1, 1), 2, ones(1, 1), ones(1), noiseModel::Constrained::All(1))); graph.push_back(JacobianFactor(1, ones(1, 1), 2, ones(1, 1), ones(1), noiseModel::Constrained::All(1)));
graph.push_back(JacobianFactor(1, ones(1, 1), 2, -ones(1, 1), 5*ones(1), noiseModel::Constrained::All(1))); graph.push_back(JacobianFactor(1, ones(1, 1), 2, -ones(1, 1), 5*ones(1), noiseModel::Constrained::All(1)));
@ -735,7 +735,7 @@ TEST_DISABLED(LPSolver, overConstrainedLinearSystem2) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST_DISABLED(LPSolver, simpleTest1) { TEST(LPSolver, simpleTest1) {
LP lp = simpleLP1(); LP lp = simpleLP1();
LPSolver lpSolver(lp); LPSolver lpSolver(lp);
@ -744,7 +744,9 @@ TEST_DISABLED(LPSolver, simpleTest1) {
VectorValues x1 = lpSolver.solveWithCurrentWorkingSet(init, VectorValues x1 = lpSolver.solveWithCurrentWorkingSet(init,
InequalityFactorGraph()); InequalityFactorGraph());
x1.print("x1: "); VectorValues expected_x1;
expected_x1.insert(1, (Vector(2) << 1, 1).finished());
CHECK(assert_equal(expected_x1, x1, 1e-10));
VectorValues result, duals; VectorValues result, duals;
boost::tie(result, duals) = lpSolver.optimize(init); boost::tie(result, duals) = lpSolver.optimize(init);
@ -754,13 +756,13 @@ TEST_DISABLED(LPSolver, simpleTest1) {
} }
/** /**
* TODO: More TEST_DISABLED cases: * TODO: More TEST cases:
* - Infeasible * - Infeasible
* - Unbounded * - Unbounded
* - Underdetermined * - Underdetermined
*/ */
/* ************************************************************************* */ /* ************************************************************************* */
TEST_DISABLED(LPSolver, LinearCost) { TEST(LPSolver, LinearCost) {
LinearCost cost(1, (Vector(3) << 2., 4., 6.).finished()); LinearCost cost(1, (Vector(3) << 2., 4., 6.).finished());
VectorValues x; VectorValues x;
x.insert(1, (Vector(3) << 1., 3., 5.).finished()); x.insert(1, (Vector(3) << 1., 3., 5.).finished());