120 lines
3.3 KiB
C++
120 lines
3.3 KiB
C++
/**
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* @file testVectorConfig.cpp
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* @brief Unit tests for Factor Graph Configuration
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* @author Carlos Nieto
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**/
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/*STL/C++*/
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#include <iostream>
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#include <sstream>
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//#include TEST_AC_DEFINE
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#ifdef HAVE_BOOST_SERIALIZATION
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#include <boost/archive/text_oarchive.hpp>
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#include <boost/archive/text_iarchive.hpp>
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#endif //HAVE_BOOST_SERIALIZATION
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#include <CppUnitLite/TestHarness.h>
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#include "Matrix.h"
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#include "VectorConfig.h"
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#include "smallExample.cpp"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( VectorConfig, equals1 )
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{
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VectorConfig expected;
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Vector v = Vector_(3, 5.0, 6.0, 7.0);
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expected.insert("a",v);
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VectorConfig actual;
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actual.insert("a",v);
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CHECK(actual.equals(expected));
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}
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/* ************************************************************************* */
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TEST( VectorConfig, equals2 )
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{
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VectorConfig cfg1, cfg2;
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Vector v1 = Vector_(3, 5.0, 6.0, 7.0);
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Vector v2 = Vector_(3, 5.0, 6.0, 8.0);
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cfg1.insert("x", v1);
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cfg2.insert("x", v2);
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CHECK(!cfg1.equals(cfg2));
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CHECK(!cfg2.equals(cfg1));
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}
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/* ************************************************************************* */
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TEST( VectorConfig, equals_nan )
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{
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VectorConfig cfg1, cfg2;
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Vector v1 = Vector_(3, 5.0, 6.0, 7.0);
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Vector v2 = Vector_(3, 0.0/0.0, 0.0/0.0, 0.0/0.0);
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cfg1.insert("x", v1);
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cfg2.insert("x", v2);
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CHECK(!cfg1.equals(cfg2));
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CHECK(!cfg2.equals(cfg1));
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}
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/* ************************************************************************* */
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TEST( VectorConfig, contains)
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{
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VectorConfig fg;
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Vector v = Vector_(3, 5.0, 6.0, 7.0);
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fg.insert("ali", v);
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CHECK(fg.contains("ali"));
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CHECK(!fg.contains("gholi"));
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}
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/* ************************************************************************* */
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TEST( VectorConfig, plus)
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{
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VectorConfig fg;
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Vector vx = Vector_(3, 5.0, 6.0, 7.0), vy = Vector_(2, 8.0, 9.0);
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fg.insert("x", vx).insert("y",vy);
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VectorConfig delta;
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Vector dx = Vector_(3, 1.0, 1.0, 1.0), dy = Vector_(2, -1.0, -1.0);
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delta.insert("x", dx).insert("y",dy);
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VectorConfig expected;
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Vector wx = Vector_(3, 6.0, 7.0, 8.0), wy = Vector_(2, 7.0, 8.0);
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expected.insert("x", wx).insert("y",wy);
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// functional
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VectorConfig actual = fg.exmap(delta);
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CHECK(actual.equals(expected));
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}
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/* ************************************************************************* */
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#ifdef HAVE_BOOST_SERIALIZATION
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TEST( VectorConfig, serialize)
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{
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//DEBUG:
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cout << "VectorConfig: Running Serialization Test" << endl;
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//create an VectorConfig
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VectorConfig fg = createConfig();
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//serialize the config
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std::ostringstream in_archive_stream;
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boost::archive::text_oarchive in_archive(in_archive_stream);
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in_archive << fg;
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std::string serialized_fgc = in_archive_stream.str();
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//deserialize the config
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std::istringstream out_archive_stream(serialized_fgc);
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boost::archive::text_iarchive out_archive(out_archive_stream);
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VectorConfig output;
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out_archive >> output;
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//check for equality
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CHECK(fg.equals(output));
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}
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#endif //HAVE_BOOST_SERIALIZATION
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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