diff --git a/.cproject b/.cproject
index b3709d422..1dcc51dfe 100644
--- a/.cproject
+++ b/.cproject
@@ -592,6 +592,7 @@
make
+
tests/testBayesTree.run
true
false
@@ -599,6 +600,7 @@
make
+
testBinaryBayesNet.run
true
false
@@ -646,6 +648,7 @@
make
+
testSymbolicBayesNet.run
true
false
@@ -653,6 +656,7 @@
make
+
tests/testSymbolicFactor.run
true
false
@@ -660,6 +664,7 @@
make
+
testSymbolicFactorGraph.run
true
false
@@ -675,6 +680,7 @@
make
+
tests/testBayesTree
true
false
@@ -1122,6 +1128,7 @@
make
+
testErrors.run
true
false
@@ -1351,6 +1358,46 @@
true
true
+
+ make
+ -j5
+ testBTree.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testDSF.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testDSFMap.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testDSFVector.run
+ true
+ true
+ true
+
+
+ make
+ -j5
+ testFixedVector.run
+ true
+ true
+ true
+
make
-j2
@@ -1433,7 +1480,6 @@
make
-
testSimulated2DOriented.run
true
false
@@ -1473,7 +1519,6 @@
make
-
testSimulated2D.run
true
false
@@ -1481,7 +1526,6 @@
make
-
testSimulated3D.run
true
false
@@ -1495,46 +1539,6 @@
true
true
-
- make
- -j5
- testBTree.run
- true
- true
- true
-
-
- make
- -j5
- testDSF.run
- true
- true
- true
-
-
- make
- -j5
- testDSFMap.run
- true
- true
- true
-
-
- make
- -j5
- testDSFVector.run
- true
- true
- true
-
-
- make
- -j5
- testFixedVector.run
- true
- true
- true
-
make
-j5
@@ -1792,6 +1796,7 @@
cpack
+
-G DEB
true
false
@@ -1799,6 +1804,7 @@
cpack
+
-G RPM
true
false
@@ -1806,6 +1812,7 @@
cpack
+
-G TGZ
true
false
@@ -1813,6 +1820,7 @@
cpack
+
--config CPackSourceConfig.cmake
true
false
@@ -2627,6 +2635,7 @@
make
+
testGraph.run
true
false
@@ -2634,6 +2643,7 @@
make
+
testJunctionTree.run
true
false
@@ -2641,6 +2651,7 @@
make
+
testSymbolicBayesNetB.run
true
false
@@ -2758,6 +2769,14 @@
true
true
+
+ make
+ -j4
+ testBasisDecompositions.run
+ true
+ true
+ true
+
make
-j2
@@ -3168,7 +3187,6 @@
make
-
tests/testGaussianISAM2
true
false
diff --git a/gtsam_unstable/nonlinear/tests/testBasisDecompositions.cpp b/gtsam_unstable/nonlinear/tests/testBasisDecompositions.cpp
new file mode 100644
index 000000000..db6023629
--- /dev/null
+++ b/gtsam_unstable/nonlinear/tests/testBasisDecompositions.cpp
@@ -0,0 +1,64 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file testBasisDecompositions.cpp
+ * @date November 23, 2014
+ * @author Frank Dellaert
+ * @brief unit tests for Basis Decompositions w Expressions
+ */
+
+#include
+#include
+#include
+#include
+#include
+
+#include
+
+#include
+using boost::assign::list_of;
+
+using namespace std;
+using namespace gtsam;
+
+noiseModel::Diagonal::shared_ptr model = noiseModel::Unit::Create(1);
+
+//******************************************************************************
+TEST(BasisDecompositions, Fourier) {
+
+ // Create linear factor graph
+ GaussianFactorGraph g;
+ Key key(1);
+ for (size_t i = 0; i < 16; i++) {
+ double x = i * M_PI / 8, y = exp(sin(x) + cos(x));
+ Matrix A(1, 3);
+ A << 1, cos(x), sin(x);
+ Vector b(1);
+ b << y;
+ g.add(key, A, b, model);
+ }
+
+ // Solve
+ VectorValues actual = g.optimize();
+
+ // Check
+ Vector3 expected(1.5661, 1.2717, 1.2717);
+ CHECK(assert_equal((Vector) expected, actual.at(key),1e-4));
+}
+
+//******************************************************************************
+int main() {
+ TestResult tr;
+ return TestRegistry::runAllTests(tr);
+}
+//******************************************************************************
+