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Added test for serializing a GaussianBayesTree

release/4.3a0
Alex Cunningham 2013-09-17 14:04:11 +00:00
parent 1c30b6daef
commit a4bd2adbc7
1 changed files with 22 additions and 4 deletions
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26
gtsam/linear/tests/testSerializationLinear.cpp
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@ -22,6 +22,9 @@
#include <gtsam/linear/GaussianISAM.h> #include <gtsam/linear/GaussianISAM.h>
#include <gtsam/linear/NoiseModel.h> #include <gtsam/linear/NoiseModel.h>
#include <boost/assign/list_of.hpp>
using namespace boost::assign;
#include <gtsam/base/serializationTestHelpers.h> #include <gtsam/base/serializationTestHelpers.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
@ -123,10 +126,6 @@ TEST (Serialization, SharedDiagonal_noiseModels) {
EXPECT(equalsDereferencedBinary<SharedDiagonal>(constrained3)); EXPECT(equalsDereferencedBinary<SharedDiagonal>(constrained3));
} }
/* ************************************************************************* */
// Linear components
/* ************************************************************************* */
/* Create GUIDs for factors */ /* Create GUIDs for factors */
/* ************************************************************************* */ /* ************************************************************************* */
BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor"); BOOST_CLASS_EXPORT_GUID(gtsam::JacobianFactor, "gtsam::JacobianFactor");
@ -170,6 +169,25 @@ TEST (Serialization, gaussian_conditional) {
EXPECT(equalsBinary(cg)); EXPECT(equalsBinary(cg));
} }
/* ************************************************************************* */
TEST (Serialization, gaussian_bayes_tree) {
const Key x1=1, x2=2, x3=3, x4=4;
const Ordering chainOrdering = Ordering(list_of(x2)(x1)(x3)(x4));
const SharedDiagonal chainNoise = noiseModel::Isotropic::Sigma(1, 0.5);
const GaussianFactorGraph chain = list_of
(JacobianFactor(x2, Matrix_(1,1,1.), x1, Matrix_(1,1,1.), Vector_(1,1.), chainNoise))
(JacobianFactor(x2, Matrix_(1,1,1.), x3, Matrix_(1,1,1.), Vector_(1,1.), chainNoise))
(JacobianFactor(x3, Matrix_(1,1,1.), x4, Matrix_(1,1,1.), Vector_(1,1.), chainNoise))
(JacobianFactor(x4, Matrix_(1,1,1.), Vector_(1,1.), chainNoise));
GaussianBayesTree init = *chain.eliminateMultifrontal(chainOrdering);
GaussianBayesTree expected = *chain.eliminateMultifrontal(chainOrdering);
GaussianBayesTree actual;
std::string serialized = serialize(init);
deserialize(serialized, actual);
EXPECT(assert_equal(expected, actual));
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); } int main() { TestResult tr; return TestRegistry::runAllTests(tr); }