From 76d478c0e0a2b486dd4e2aaebd8cd887df457f89 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@skyd.io>
Date: Thu, 9 Jul 2015 12:07:59 -0700
Subject: [PATCH] Moved testing machinery to correct spot

---
 gtsam/nonlinear/expressionTesting.h | 33 -----------------------------
 gtsam/nonlinear/factorTesting.h     | 30 ++++++++++++++++++++++++++
 2 files changed, 30 insertions(+), 33 deletions(-)

diff --git a/gtsam/nonlinear/expressionTesting.h b/gtsam/nonlinear/expressionTesting.h
index f2f1c9578..b15592c00 100644
--- a/gtsam/nonlinear/expressionTesting.h
+++ b/gtsam/nonlinear/expressionTesting.h
@@ -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>
diff --git a/gtsam/nonlinear/factorTesting.h b/gtsam/nonlinear/factorTesting.h
index 442b29382..7709e1f1c 100644
--- a/gtsam/nonlinear/factorTesting.h
+++ b/gtsam/nonlinear/factorTesting.h
@@ -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