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Moved testing machinery to correct spot

release/4.3a0
Frank Dellaert 2015-07-09 12:07:59 -07:00
parent 7ff3e11efd
commit 76d478c0e0
2 changed files with 30 additions and 33 deletions
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33
gtsam/nonlinear/expressionTesting.h
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@ -20,44 +20,11 @@
#pragma once
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/Expression.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/Testable.h>
#include <gtsam/linear/VectorValues.h>
#include <CppUnitLite/TestResult.h>
#include <CppUnitLite/Test.h>
#include <CppUnitLite/Failure.h>
namespace gtsam {
namespace internal {
// CPPUnitLite-style test for linearization of a factor
bool testFactorJacobians(TestResult& result_, const std::string& name_,
const NoiseModelFactor& factor, const gtsam::Values& values, double delta,
double tolerance) {
// Create expected value by numerical differentiation
JacobianFactor expected = linearizeNumerically(factor, values, delta);
// Create actual value by linearize
boost::shared_ptr<JacobianFactor> actual = //
boost::dynamic_pointer_cast<JacobianFactor>(factor.linearize(values));
// Check cast result and then equality
return actual && assert_equal(expected, *actual, tolerance);
}
}
/// \brief Check the Jacobians produced by a factor against finite differences.
/// \param factor The factor to test.
/// \param values Values filled in for testing the Jacobians.
/// \param numerical_derivative_step The step to use when computing the numerical derivative Jacobians
/// \param tolerance The numerical tolerance to use when comparing Jacobians.
#define EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, numerical_derivative_step, tolerance) \
{ EXPECT(gtsam::internal::testFactorJacobians(result_, name_, factor, values, numerical_derivative_step, tolerance)); }
namespace internal {
// CPPUnitLite-style test for linearization of an ExpressionFactor
template<typename T>

30
gtsam/nonlinear/factorTesting.h
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@ -22,6 +22,10 @@
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestResult.h>
#include <CppUnitLite/Test.h>
#include <CppUnitLite/Failure.h>
namespace gtsam {
/**
@ -65,4 +69,30 @@ JacobianFactor linearizeNumerically(const NoiseModelFactor& factor,
return JacobianFactor(jacobians, -e);
}
namespace internal {
// CPPUnitLite-style test for linearization of a factor
bool testFactorJacobians(TestResult& result_, const std::string& name_,
const NoiseModelFactor& factor, const gtsam::Values& values, double delta,
double tolerance) {
// Create expected value by numerical differentiation
JacobianFactor expected = linearizeNumerically(factor, values, delta);
// Create actual value by linearize
boost::shared_ptr<JacobianFactor> actual = //
boost::dynamic_pointer_cast<JacobianFactor>(factor.linearize(values));
// Check cast result and then equality
return actual && assert_equal(expected, *actual, tolerance);
}
}
/// \brief Check the Jacobians produced by a factor against finite differences.
/// \param factor The factor to test.
/// \param values Values filled in for testing the Jacobians.
/// \param numerical_derivative_step The step to use when computing the numerical derivative Jacobians
/// \param tolerance The numerical tolerance to use when comparing Jacobians.
#define EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, numerical_derivative_step, tolerance) \
{ EXPECT(gtsam::internal::testFactorJacobians(result_, name_, factor, values, numerical_derivative_step, tolerance)); }
} // namespace gtsam