78 lines
2.3 KiB
C++
78 lines
2.3 KiB
C++
/**
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* @file testIterative.cpp
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* @brief Unit tests for iterative methods
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* @author Frank Dellaert
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**/
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include "Ordering.h"
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#include "iterative.h"
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#include "smallExample.h"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( Iterative, steepestDescent )
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{
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// Expected solution
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Ordering ord;
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ord += "l1", "x1", "x2";
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GaussianFactorGraph fg = createGaussianFactorGraph();
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VectorConfig expected = fg.optimize(ord); // destructive
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// Do gradient descent
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GaussianFactorGraph fg2 = createGaussianFactorGraph();
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VectorConfig zero = createZeroDelta();
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bool verbose = false;
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VectorConfig actual = steepestDescent(fg2, zero, verbose);
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CHECK(assert_equal(expected,actual,1e-2));
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}
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/* ************************************************************************* */
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TEST( Iterative, conjugateGradientDescent )
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{
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// Expected solution
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Ordering ord;
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ord += "l1", "x1", "x2";
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GaussianFactorGraph fg = createGaussianFactorGraph();
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VectorConfig expected = fg.optimize(ord); // destructive
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// create graph and get matrices
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GaussianFactorGraph fg2 = createGaussianFactorGraph();
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Matrix A;
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Vector b;
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Vector x0 = gtsam::zero(6);
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boost::tie(A, b) = fg2.matrix(ord);
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Vector expectedX = Vector_(6, -0.1, 0.1, -0.1, -0.1, 0.1, -0.2);
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// Do conjugate gradient descent, System version
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System Ab(A, b);
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Vector actualX = conjugateGradientDescent(Ab, x0);
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CHECK(assert_equal(expectedX,actualX,1e-9));
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// Do conjugate gradient descent, Matrix version
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Vector actualX2 = conjugateGradientDescent(A, b, x0);
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CHECK(assert_equal(expectedX,actualX2,1e-9));
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// Do conjugate gradient descent on factor graph
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VectorConfig zero = createZeroDelta();
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VectorConfig actual = conjugateGradientDescent(fg2, zero);
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CHECK(assert_equal(expected,actual,1e-2));
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// Test method
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VectorConfig actual2 = fg2.conjugateGradientDescent(zero);
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CHECK(assert_equal(expected,actual2,1e-2));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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