From cfd81093bd754da3faf12f4ef34d89f2d990c2aa Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Thu, 8 Aug 2013 17:59:19 +0000
Subject: [PATCH] Fixing compile/interface issues, making (failing)
 testBetweenFactor more verbose

---
 .cproject                                     |  8 +++++++
 gtsam/slam/tests/testBetweenFactor.cpp        |  7 +++---
 gtsam/slam/tests/testReferenceFrameFactor.cpp | 24 +++++++++----------
 gtsam/slam/tests/testStereoFactor.cpp         |  4 ++--
 4 files changed, 26 insertions(+), 17 deletions(-)

diff --git a/.cproject b/.cproject
index ed0be7891..1cd24836f 100644
--- a/.cproject
+++ b/.cproject
@@ -643,6 +643,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testBetweenFactor.run" path="build/gtsam/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j6 -j8</buildArguments>
+				<buildTarget>testBetweenFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
diff --git a/gtsam/slam/tests/testBetweenFactor.cpp b/gtsam/slam/tests/testBetweenFactor.cpp
index 415524071..2c0a574a5 100644
--- a/gtsam/slam/tests/testBetweenFactor.cpp
+++ b/gtsam/slam/tests/testBetweenFactor.cpp
@@ -15,6 +15,7 @@ using namespace gtsam;
 using namespace gtsam::symbol_shorthand;
 using namespace gtsam::noiseModel;
 
+/* ************************************************************************* */
 TEST(BetweenFactor, Rot3) {
   Rot3 R1 = Rot3::rodriguez(0.1, 0.2, 0.3);
   Rot3 R2 = Rot3::rodriguez(0.4, 0.5, 0.6);
@@ -26,19 +27,19 @@ TEST(BetweenFactor, Rot3) {
   Vector actual = factor.evaluateError(R1, R2, actualH1, actualH2);
 
   Vector expected = Rot3::Logmap(measured.inverse() * R1.between(R2));
-  CHECK(assert_equal(expected,actual, 1e-100));
+  EXPECT(assert_equal(expected,actual, 1e-100));
 
   Matrix numericalH1 = numericalDerivative21(
       boost::function<Vector(const Rot3&, const Rot3&)>(boost::bind(
           &BetweenFactor<Rot3>::evaluateError, factor, _1, _2, boost::none,
           boost::none)), R1, R2, 1e-5);
-  CHECK(assert_equal(numericalH1,actualH1));
+  EXPECT(assert_equal(numericalH1,actualH1, 1e-5));
 
   Matrix numericalH2 = numericalDerivative22(
       boost::function<Vector(const Rot3&, const Rot3&)>(boost::bind(
           &BetweenFactor<Rot3>::evaluateError, factor, _1, _2, boost::none,
           boost::none)), R1, R2, 1e-5);
-  CHECK(assert_equal(numericalH2,actualH2));
+  EXPECT(assert_equal(numericalH2,actualH2, 1e-5));
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/slam/tests/testReferenceFrameFactor.cpp b/gtsam/slam/tests/testReferenceFrameFactor.cpp
index d84c5b41f..5735ac21c 100644
--- a/gtsam/slam/tests/testReferenceFrameFactor.cpp
+++ b/gtsam/slam/tests/testReferenceFrameFactor.cpp
@@ -136,15 +136,15 @@ TEST( ReferenceFrameFactor, converge_trans ) {
   //  Pose2 trans = transIdeal * Pose2(-200.0, 100.0, 2.0); // beyond pi/2 - fails
 
   NonlinearFactorGraph graph;
-  graph.add(PointReferenceFrameFactor(lB1, tA1, lA1));
-  graph.add(PointReferenceFrameFactor(lB2, tA1, lA2));
+  graph.push_back(PointReferenceFrameFactor(lB1, tA1, lA1));
+  graph.push_back(PointReferenceFrameFactor(lB2, tA1, lA2));
 
   // hard constraints on points
   double error_gain = 1000.0;
-  graph.add(NonlinearEquality<gtsam::Point2>(lA1, local1, error_gain));
-  graph.add(NonlinearEquality<gtsam::Point2>(lA2, local2, error_gain));
-  graph.add(NonlinearEquality<gtsam::Point2>(lB1, global1, error_gain));
-  graph.add(NonlinearEquality<gtsam::Point2>(lB2, global2, error_gain));
+  graph.push_back(NonlinearEquality<gtsam::Point2>(lA1, local1, error_gain));
+  graph.push_back(NonlinearEquality<gtsam::Point2>(lA2, local2, error_gain));
+  graph.push_back(NonlinearEquality<gtsam::Point2>(lB1, global1, error_gain));
+  graph.push_back(NonlinearEquality<gtsam::Point2>(lB2, global2, error_gain));
 
   // create initial estimate
   Values init;
@@ -186,9 +186,9 @@ TEST( ReferenceFrameFactor, converge_local ) {
 
   NonlinearFactorGraph graph;
   double error_gain = 1000.0;
-  graph.add(PointReferenceFrameFactor(lB1, tA1, lA1));
-  graph.add(NonlinearEquality<gtsam::Point2>(lB1, global, error_gain));
-  graph.add(NonlinearEquality<gtsam::Pose2>(tA1, trans, error_gain));
+  graph.push_back(PointReferenceFrameFactor(lB1, tA1, lA1));
+  graph.push_back(NonlinearEquality<gtsam::Point2>(lB1, global, error_gain));
+  graph.push_back(NonlinearEquality<gtsam::Pose2>(tA1, trans, error_gain));
 
   // create initial estimate
   Values init;
@@ -222,9 +222,9 @@ TEST( ReferenceFrameFactor, converge_global ) {
 
   NonlinearFactorGraph graph;
   double error_gain = 1000.0;
-  graph.add(PointReferenceFrameFactor(lB1, tA1, lA1));
-  graph.add(NonlinearEquality<gtsam::Point2>(lA1, local, error_gain));
-  graph.add(NonlinearEquality<gtsam::Pose2>(tA1, trans, error_gain));
+  graph.push_back(PointReferenceFrameFactor(lB1, tA1, lA1));
+  graph.push_back(NonlinearEquality<gtsam::Point2>(lA1, local, error_gain));
+  graph.push_back(NonlinearEquality<gtsam::Pose2>(tA1, trans, error_gain));
 
   // create initial estimate
   Values init;
diff --git a/gtsam/slam/tests/testStereoFactor.cpp b/gtsam/slam/tests/testStereoFactor.cpp
index 3936d8f45..3c28f6da9 100644
--- a/gtsam/slam/tests/testStereoFactor.cpp
+++ b/gtsam/slam/tests/testStereoFactor.cpp
@@ -189,11 +189,11 @@ TEST( StereoFactor, singlePoint)
 {
   NonlinearFactorGraph graph;
 
-  graph.add(NonlinearEquality<Pose3>(X(1), camera1));
+  graph.push_back(NonlinearEquality<Pose3>(X(1), camera1));
 
   StereoPoint2 measurement(320, 320.0-50, 240);
   // arguments: measurement, sigma, cam#, measurement #, K, baseline (m)
-  graph.add(GenericStereoFactor<Pose3, Point3>(measurement, model, X(1), L(1), K));
+  graph.push_back(GenericStereoFactor<Pose3, Point3>(measurement, model, X(1), L(1), K));
 
   // Create a configuration corresponding to the ground truth
   Values values;