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More adding of static to avoid naming conflicts in unit tests

release/4.3a0
Richard Roberts 2012-06-30 01:44:00 +00:00
parent dd61e5dd58
commit c443ccbedd
12 changed files with 54 additions and 71 deletions
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4
gtsam/geometry/tests/testCal3_S2.cpp
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@ -24,8 +24,8 @@ using namespace gtsam;
GTSAM_CONCEPT_TESTABLE_INST(Cal3_S2) GTSAM_CONCEPT_TESTABLE_INST(Cal3_S2)
GTSAM_CONCEPT_MANIFOLD_INST(Cal3_S2) GTSAM_CONCEPT_MANIFOLD_INST(Cal3_S2)
Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2); static Cal3_S2 K(500, 500, 0.1, 640 / 2, 480 / 2);
Point2 p(1, -2); static Point2 p(1, -2);
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Cal3_S2, easy_constructor) TEST( Cal3_S2, easy_constructor)

41
gtsam/geometry/tests/testSerializationGeometry.cpp
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@ -36,37 +36,20 @@ using namespace gtsam;
using namespace gtsam::serializationTestHelpers; using namespace gtsam::serializationTestHelpers;
/* ************************************************************************* */ /* ************************************************************************* */
// Export all classes derived from Value static Point3 pt3(1.0, 2.0, 3.0);
BOOST_CLASS_EXPORT(gtsam::Cal3_S2) static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);
BOOST_CLASS_EXPORT(gtsam::Cal3_S2Stereo) static Pose3 pose3(rt3, pt3);
BOOST_CLASS_EXPORT(gtsam::Cal3Bundler)
BOOST_CLASS_EXPORT(gtsam::CalibratedCamera)
BOOST_CLASS_EXPORT(gtsam::Point2)
BOOST_CLASS_EXPORT(gtsam::Point3)
BOOST_CLASS_EXPORT(gtsam::Pose2)
BOOST_CLASS_EXPORT(gtsam::Pose3)
BOOST_CLASS_EXPORT(gtsam::Rot2)
BOOST_CLASS_EXPORT(gtsam::Rot3)
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3_S2>)
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3DS2>)
BOOST_CLASS_EXPORT(gtsam::PinholeCamera<Cal3Bundler>)
BOOST_CLASS_EXPORT(gtsam::StereoPoint2)
/* ************************************************************************* */ static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5);
Point3 pt3(1.0, 2.0, 3.0); static Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0);
Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); static Cal3Bundler cal3(1.0, 2.0, 3.0);
Pose3 pose3(rt3, pt3); static Cal3_S2Stereo cal4(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);
static Cal3_S2Stereo::shared_ptr cal4ptr(new Cal3_S2Stereo(cal4));
static CalibratedCamera cal5(Pose3(rt3, pt3));
Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); static PinholeCamera<Cal3_S2> cam1(pose3, cal1);
Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0); static StereoCamera cam2(pose3, cal4ptr);
Cal3Bundler cal3(1.0, 2.0, 3.0); static StereoPoint2 spt(1.0, 2.0, 3.0);
Cal3_S2Stereo cal4(1.0, 2.0, 3.0, 4.0, 5.0, 6.0);
Cal3_S2Stereo::shared_ptr cal4ptr(new Cal3_S2Stereo(cal4));
CalibratedCamera cal5(Pose3(rt3, pt3));
PinholeCamera<Cal3_S2> cam1(pose3, cal1);
StereoCamera cam2(pose3, cal4ptr);
StereoPoint2 spt(1.0, 2.0, 3.0);
/* ************************************************************************* */ /* ************************************************************************* */
TEST (Serialization, text_geometry) { TEST (Serialization, text_geometry) {

10
gtsam/geometry/tests/testStereoCamera.cpp
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@ -74,21 +74,21 @@ TEST( StereoCamera, project)
/* ************************************************************************* */ /* ************************************************************************* */
Pose3 camera1(Matrix_(3,3, static Pose3 camera1(Matrix_(3,3,
1., 0., 0., 1., 0., 0.,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.
), ),
Point3(0,0,6.25)); Point3(0,0,6.25));
Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5));
StereoCamera stereoCam(Pose3(), K); static StereoCamera stereoCam(Pose3(), K);
// point X Y Z in meters // point X Y Z in meters
Point3 p(0, 0, 5); static Point3 p(0, 0, 5);
/* ************************************************************************* */ /* ************************************************************************* */
StereoPoint2 project_(const StereoCamera& cam, const Point3& point) { return cam.project(point); } static StereoPoint2 project_(const StereoCamera& cam, const Point3& point) { return cam.project(point); }
TEST( StereoCamera, Dproject_stereo_pose) TEST( StereoCamera, Dproject_stereo_pose)
{ {
Matrix expected = numericalDerivative21<StereoPoint2,StereoCamera,Point3>(project_,stereoCam, p); Matrix expected = numericalDerivative21<StereoPoint2,StereoCamera,Point3>(project_,stereoCam, p);

2
gtsam/inference/tests/testISAM.cpp
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@ -34,7 +34,7 @@ typedef ISAM<IndexConditional> SymbolicISAM;
/* ************************************************************************* */ /* ************************************************************************* */
// Some numbers that should be consistent among all smoother tests // Some numbers that should be consistent among all smoother tests
double sigmax1 = 0.786153, sigmax2 = 0.687131, sigmax3 = 0.671512, sigmax4 = static double sigmax1 = 0.786153, sigmax2 = 0.687131, sigmax3 = 0.671512, sigmax4 =
0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1; 0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1;
/* ************************************************************************* */ /* ************************************************************************* */

2
gtsam/linear/tests/testGaussianJunctionTree.cpp
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@ -35,7 +35,7 @@ using namespace gtsam;
static const Index x2=0, x1=1, x3=2, x4=3; static const Index x2=0, x1=1, x3=2, x4=3;
GaussianFactorGraph createChain() { static GaussianFactorGraph createChain() {
typedef GaussianFactorGraph::sharedFactor Factor; typedef GaussianFactorGraph::sharedFactor Factor;
SharedDiagonal model = noiseModel::Isotropic::Sigma(1, 0.5); SharedDiagonal model = noiseModel::Isotropic::Sigma(1, 0.5);

10
gtsam/linear/tests/testSerializationLinear.cpp
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@ -47,11 +47,11 @@ BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsam_SharedDiagonal");
/* ************************************************************************* */ /* ************************************************************************* */
// example noise models // example noise models
noiseModel::Diagonal::shared_ptr diag3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3)); static noiseModel::Diagonal::shared_ptr diag3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3));
noiseModel::Gaussian::shared_ptr gaussian3 = noiseModel::Gaussian::SqrtInformation(2.0 * eye(3,3)); static noiseModel::Gaussian::shared_ptr gaussian3 = noiseModel::Gaussian::SqrtInformation(2.0 * eye(3,3));
noiseModel::Isotropic::shared_ptr iso3 = noiseModel::Isotropic::Sigma(3, 0.2); static noiseModel::Isotropic::shared_ptr iso3 = noiseModel::Isotropic::Sigma(3, 0.2);
noiseModel::Constrained::shared_ptr constrained3 = noiseModel::Constrained::MixedSigmas(Vector_(3, 0.0, 0.0, 0.1)); static noiseModel::Constrained::shared_ptr constrained3 = noiseModel::Constrained::MixedSigmas(Vector_(3, 0.0, 0.0, 0.1));
noiseModel::Unit::shared_ptr unit3 = noiseModel::Unit::Create(3); static noiseModel::Unit::shared_ptr unit3 = noiseModel::Unit::Create(3);
/* ************************************************************************* */ /* ************************************************************************* */
TEST (Serialization, noiseModels) { TEST (Serialization, noiseModels) {

12
gtsam/nonlinear/tests/testSerializationNonlinear.cpp
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@ -47,13 +47,13 @@ typedef PinholeCamera<Cal3DS2> PinholeCal3DS2;
typedef PinholeCamera<Cal3Bundler> PinholeCal3Bundler; typedef PinholeCamera<Cal3Bundler> PinholeCal3Bundler;
/* ************************************************************************* */ /* ************************************************************************* */
Point3 pt3(1.0, 2.0, 3.0); static Point3 pt3(1.0, 2.0, 3.0);
Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);
Pose3 pose3(rt3, pt3); static Pose3 pose3(rt3, pt3);
Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5);
Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0); static Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0);
Cal3Bundler cal3(1.0, 2.0, 3.0); static Cal3Bundler cal3(1.0, 2.0, 3.0);
TEST (Serialization, TemplatedValues) { TEST (Serialization, TemplatedValues) {
Values values; Values values;

8
gtsam/slam/tests/testStereoFactor.cpp
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@ -28,18 +28,18 @@
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;
Pose3 camera1(Matrix_(3,3, static Pose3 camera1(Matrix_(3,3,
1., 0., 0., 1., 0., 0.,
0.,-1., 0., 0.,-1., 0.,
0., 0.,-1. 0., 0.,-1.
), ),
Point3(0,0,6.25)); Point3(0,0,6.25));
Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5)); static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(1500, 1500, 0, 320, 240, 0.5));
StereoCamera stereoCam(Pose3(), K); static StereoCamera stereoCam(Pose3(), K);
// point X Y Z in meters // point X Y Z in meters
Point3 p(0, 0, 5); static Point3 p(0, 0, 5);
static SharedNoiseModel sigma(noiseModel::Unit::Create(1)); static SharedNoiseModel sigma(noiseModel::Unit::Create(1));
// Convenience for named keys // Convenience for named keys

4
tests/testGaussianISAM.cpp
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@ -41,10 +41,10 @@ using symbol_shorthand::L;
/* ************************************************************************* */ /* ************************************************************************* */
// Some numbers that should be consistent among all smoother tests // Some numbers that should be consistent among all smoother tests
double sigmax1 = 0.786153, sigmax2 = 1.0/1.47292, sigmax3 = 0.671512, sigmax4 = static double sigmax1 = 0.786153, sigmax2 = 1.0/1.47292, sigmax3 = 0.671512, sigmax4 =
0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1; 0.669534, sigmax5 = sigmax3, sigmax6 = sigmax2, sigmax7 = sigmax1;
const double tol = 1e-4; static const double tol = 1e-4;
/* ************************************************************************* */ /* ************************************************************************* */
TEST_UNSAFE( ISAM, iSAM_smoother ) TEST_UNSAFE( ISAM, iSAM_smoother )

10
tests/testGaussianJunctionTreeB.cpp
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@ -52,7 +52,7 @@ using symbol_shorthand::L;
C3 x1 : x2 C3 x1 : x2
C4 x7 : x6 C4 x7 : x6
*/ */
TEST( GaussianJunctionTree, constructor2 ) TEST( GaussianJunctionTreeB, constructor2 )
{ {
// create a graph // create a graph
Ordering ordering; ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4); Ordering ordering; ordering += X(1),X(3),X(5),X(7),X(2),X(6),X(4);
@ -88,7 +88,7 @@ TEST( GaussianJunctionTree, constructor2 )
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GaussianJunctionTree, optimizeMultiFrontal ) TEST( GaussianJunctionTreeB, optimizeMultiFrontal )
{ {
// create a graph // create a graph
GaussianFactorGraph fg; GaussianFactorGraph fg;
@ -108,7 +108,7 @@ TEST( GaussianJunctionTree, optimizeMultiFrontal )
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( GaussianJunctionTree, optimizeMultiFrontal2) TEST( GaussianJunctionTreeB, optimizeMultiFrontal2)
{ {
// create a graph // create a graph
example::Graph nlfg = createNonlinearFactorGraph(); example::Graph nlfg = createNonlinearFactorGraph();
@ -126,7 +126,7 @@ TEST( GaussianJunctionTree, optimizeMultiFrontal2)
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(GaussianJunctionTree, slamlike) { TEST(GaussianJunctionTreeB, slamlike) {
Values init; Values init;
planarSLAM::Graph newfactors; planarSLAM::Graph newfactors;
planarSLAM::Graph fullgraph; planarSLAM::Graph fullgraph;
@ -188,7 +188,7 @@ TEST(GaussianJunctionTree, slamlike) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(GaussianJunctionTree, simpleMarginal) { TEST(GaussianJunctionTreeB, simpleMarginal) {
typedef BayesTree<GaussianConditional> GaussianBayesTree; typedef BayesTree<GaussianConditional> GaussianBayesTree;

14
tests/testNonlinearEquality.cpp
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@ -37,7 +37,7 @@ typedef PriorFactor<Pose2> PosePrior;
typedef NonlinearEquality<Pose2> PoseNLE; typedef NonlinearEquality<Pose2> PoseNLE;
typedef boost::shared_ptr<PoseNLE> shared_poseNLE; typedef boost::shared_ptr<PoseNLE> shared_poseNLE;
Symbol key('x',1); static Symbol key('x',1);
/* ************************************************************************* */ /* ************************************************************************* */
TEST ( NonlinearEquality, linearization ) { TEST ( NonlinearEquality, linearization ) {
@ -241,8 +241,8 @@ TEST ( NonlinearEquality, allow_error_optimize_with_factors ) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
SharedDiagonal hard_model = noiseModel::Constrained::All(2); static SharedDiagonal hard_model = noiseModel::Constrained::All(2);
SharedDiagonal soft_model = noiseModel::Isotropic::Sigma(2, 1.0); static SharedDiagonal soft_model = noiseModel::Isotropic::Sigma(2, 1.0);
/* ************************************************************************* */ /* ************************************************************************* */
TEST( testNonlinearEqualityConstraint, unary_basics ) { TEST( testNonlinearEqualityConstraint, unary_basics ) {
@ -504,10 +504,10 @@ TEST (testNonlinearEqualityConstraint, map_warp ) {
} }
// make a realistic calibration matrix // make a realistic calibration matrix
double fov = 60; // degrees static double fov = 60; // degrees
size_t w=640,h=480; static size_t w=640,h=480;
Cal3_S2 K(fov,w,h); static Cal3_S2 K(fov,w,h);
boost::shared_ptr<Cal3_S2> shK(new Cal3_S2(K)); static boost::shared_ptr<Cal3_S2> shK(new Cal3_S2(K));
// typedefs for visual SLAM example // typedefs for visual SLAM example
typedef visualSLAM::Graph VGraph; typedef visualSLAM::Graph VGraph;

8
tests/testSerializationSLAM.cpp
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@ -174,10 +174,10 @@ BOOST_CLASS_EXPORT_GUID(visualSLAM::StereoFactor, "gtsam::visualSLAM::StereoF
BOOST_CLASS_EXPORT(gtsam::Pose3) BOOST_CLASS_EXPORT(gtsam::Pose3)
BOOST_CLASS_EXPORT(gtsam::Point3) BOOST_CLASS_EXPORT(gtsam::Point3)
Point3 pt3(1.0, 2.0, 3.0); static Point3 pt3(1.0, 2.0, 3.0);
Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0); static Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0);
Pose3 pose3(rt3, pt3); static Pose3 pose3(rt3, pt3);
Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5); static Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5);
/* ************************************************************************* */ /* ************************************************************************* */
TEST (Serialization, visual_system) { TEST (Serialization, visual_system) {