204 lines
7.3 KiB
C++
204 lines
7.3 KiB
C++
/**
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* @file testIMUSystem
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* @author Alex Cunningham
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam_unstable/dynamics/imuSystem.h>
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#include <gtsam_unstable/dynamics/imu_examples.h>
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using namespace gtsam;
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using namespace imu;
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const double tol=1e-5;
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static const Vector g = delta(3, 2, -9.81);
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Key x1 = PoseKey(1), x2 = PoseKey(2), x3 = PoseKey(3), x4 = PoseKey(4);
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/* ************************************************************************* */
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TEST(testIMUSystem, instantiations) {
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// just checking for compilation
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PoseRTV x1_v;
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imu::Values local_values;
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Graph graph;
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gtsam::SharedNoiseModel model1 = gtsam::noiseModel::Unit::Create(1);
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gtsam::SharedNoiseModel model3 = gtsam::noiseModel::Unit::Create(3);
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gtsam::SharedNoiseModel model6 = gtsam::noiseModel::Unit::Create(6);
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gtsam::SharedNoiseModel model9 = gtsam::noiseModel::Unit::Create(9);
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Vector accel = ones(3), gyro = ones(3);
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IMUMeasurement imu(accel, gyro, 0.01, x1, x2, model6);
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FullIMUMeasurement full_imu(accel, gyro, 0.01, x1, x2, model9);
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Constraint poseHardPrior(x1, x1_v);
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Between odom(x1, x2, x1_v, model9);
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Range range(x1, x2, 1.0, model1);
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VelocityConstraint constraint(x1, x2, 0.1, 10000);
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Prior posePrior(x1, x1_v, model9);
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DHeightPrior heightPrior(x1, 0.1, model1);
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VelocityPrior velPrior(x1, ones(3), model3);
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}
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/* ************************************************************************* */
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TEST( testIMUSystem, optimize_chain ) {
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// create a simple chain of poses to generate IMU measurements
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const double dt = 1.0;
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PoseRTV pose1,
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pose2(Point3(1.0, 1.0, 0.0), Rot3::ypr(0.1, 0.0, 0.0), Vector_(3, 2.0, 2.0, 0.0)),
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pose3(Point3(2.0, 2.0, 0.0), Rot3::ypr(0.2, 0.0, 0.0), Vector_(3, 0.0, 0.0, 0.0)),
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pose4(Point3(3.0, 3.0, 0.0), Rot3::ypr(0.3, 0.0, 0.0), Vector_(3, 2.0, 2.0, 0.0));
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// create measurements
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SharedDiagonal model = noiseModel::Unit::Create(6);
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Vector imu12(6), imu23(6), imu34(6);
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imu12 = pose1.imuPrediction(pose2, dt);
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imu23 = pose2.imuPrediction(pose3, dt);
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imu34 = pose3.imuPrediction(pose4, dt);
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// assemble simple graph with IMU measurements and velocity constraints
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Graph graph;
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graph.add(Constraint(x1, pose1));
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graph.add(IMUMeasurement(imu12, dt, x1, x2, model));
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graph.add(IMUMeasurement(imu23, dt, x2, x3, model));
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graph.add(IMUMeasurement(imu34, dt, x3, x4, model));
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graph.add(VelocityConstraint(x1, x2, dt));
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graph.add(VelocityConstraint(x2, x3, dt));
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graph.add(VelocityConstraint(x3, x4, dt));
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// ground truth values
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imu::Values true_values;
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true_values.insert(x1, pose1);
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true_values.insert(x2, pose2);
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true_values.insert(x3, pose3);
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true_values.insert(x4, pose4);
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// verify zero error
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EXPECT_DOUBLES_EQUAL(0, graph.error(true_values), 1e-5);
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// initialize with zero values and optimize
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imu::Values values;
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values.insert(x1, PoseRTV());
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values.insert(x2, PoseRTV());
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values.insert(x3, PoseRTV());
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values.insert(x4, PoseRTV());
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imu::Values actual = graph.optimize(values);
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EXPECT(assert_equal(true_values, actual, tol));
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}
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/* ************************************************************************* */
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TEST( testIMUSystem, optimize_chain_fullfactor ) {
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// create a simple chain of poses to generate IMU measurements
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const double dt = 1.0;
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PoseRTV pose1,
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pose2(Point3(1.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Vector_(3, 1.0, 0.0, 0.0)),
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pose3(Point3(2.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Vector_(3, 1.0, 0.0, 0.0)),
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pose4(Point3(3.0, 0.0, 0.0), Rot3::ypr(0.0, 0.0, 0.0), Vector_(3, 1.0, 0.0, 0.0));
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// create measurements
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SharedDiagonal model = noiseModel::Isotropic::Sigma(9, 1.0);
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Vector imu12(6), imu23(6), imu34(6);
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imu12 = pose1.imuPrediction(pose2, dt);
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imu23 = pose2.imuPrediction(pose3, dt);
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imu34 = pose3.imuPrediction(pose4, dt);
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// assemble simple graph with IMU measurements and velocity constraints
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Graph graph;
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graph.add(Constraint(x1, pose1));
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graph.add(FullIMUMeasurement(imu12, dt, x1, x2, model));
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graph.add(FullIMUMeasurement(imu23, dt, x2, x3, model));
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graph.add(FullIMUMeasurement(imu34, dt, x3, x4, model));
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// ground truth values
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imu::Values true_values;
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true_values.insert(x1, pose1);
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true_values.insert(x2, pose2);
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true_values.insert(x3, pose3);
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true_values.insert(x4, pose4);
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// verify zero error
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EXPECT_DOUBLES_EQUAL(0, graph.error(true_values), 1e-5);
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// initialize with zero values and optimize
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imu::Values values;
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values.insert(x1, PoseRTV());
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values.insert(x2, PoseRTV());
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values.insert(x3, PoseRTV());
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values.insert(x4, PoseRTV());
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cout << "Initial Error: " << graph.error(values) << endl; // Initial error is 0.5 - need better prediction model
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imu::Values actual = graph.optimize(values);
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// EXPECT(assert_equal(true_values, actual, tol)); // FAIL
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}
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///* ************************************************************************* */
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//TEST( testIMUSystem, imu_factor_basics ) {
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// using namespace examples;
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// PoseKey x1(1), x2(2);
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// SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6));
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// IMUMeasurement factor(frame5000::accel, frame5000::gyro, frame5000::dt, x1, x2, model);
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//
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// EXPECT(assert_equal(x1, factor.key1()));
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// EXPECT(assert_equal(x2, factor.key2()));
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// EXPECT(assert_equal(frame5000::accel, factor.accel(), tol));
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// EXPECT(assert_equal(frame5000::gyro, factor.gyro(), tol));
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// Vector full_meas = concatVectors(2, &frame5000::accel, &frame5000::gyro);
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// EXPECT(assert_equal(full_meas, factor.z(), tol));
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//}
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//
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///* ************************************************************************* */
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//TEST( testIMUSystem, imu_factor_predict_function ) {
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// using namespace examples;
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// PoseKey x1(1), x2(2);
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// SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(6, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6));
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// IMUMeasurement factor(frame5000::accel, frame5000::gyro, frame5000::dt, x1, x2, model);
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//
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// // verify zero error
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// Vector actZeroError = factor.evaluateError(frame5000::init, frame5000::final);
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// EXPECT(assert_equal(zero(6), actZeroError, tol));
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//
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// // verify nonzero error - z-h(x)
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// Vector actError = factor.evaluateError(frame10000::init, frame10000::final);
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// Vector meas10k = concatVectors(2, &frame10000::accel, &frame10000::gyro);
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// EXPECT(assert_equal(factor.z() - meas10k, actError, tol));
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//}
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/* ************************************************************************* */
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TEST( testIMUSystem, linear_trajectory) {
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// create a linear trajectory of poses
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// and verify simple solution
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const double dt = 1.0;
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PoseRTV start;
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Vector accel = delta(3, 0, 0.5); // forward force
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Vector gyro = delta(3, 0, 0.1); // constant rotation
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SharedDiagonal model = noiseModel::Unit::Create(9);
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imu::Values true_traj, init_traj;
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Graph graph;
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graph.add(Constraint(PoseKey(0), start));
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true_traj.insert(PoseKey(0), start);
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init_traj.insert(PoseKey(0), start);
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size_t nrPoses = 10;
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PoseRTV cur_pose = start;
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for (size_t i=1; i<nrPoses; ++i) {
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Key xA = PoseKey(i-1), xB = PoseKey(i);
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cur_pose = cur_pose.generalDynamics(accel, gyro, dt);
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graph.add(FullIMUMeasurement(accel - g, gyro, dt, xA, xB, model));
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true_traj.insert(xB, cur_pose);
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init_traj.insert(xB, PoseRTV());
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}
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// EXPECT_DOUBLES_EQUAL(0, graph.error(true_traj), 1e-5); // FAIL
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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