65 lines
1.6 KiB
C++
65 lines
1.6 KiB
C++
/**
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* @file testOrdering.cpp
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* @author Alex Cunningham
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*/
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#include <boost/assign/std/list.hpp> // for operator +=
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#include <CppUnitLite/TestHarness.h>
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#define GTSAM_MAGIC_KEY
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#include "Ordering-inl.h"
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#include "pose2SLAM.h"
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using namespace std;
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using namespace gtsam;
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using namespace boost::assign;
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/* ************************************************************************* */
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// x1 -> x2
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// -> x3 -> x4
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// -> x5
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TEST ( Ordering, predecessorMap2Keys ) {
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typedef TypedSymbol<Pose2,'x'> Key;
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PredecessorMap<Key> p_map;
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p_map.insert(1,1);
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p_map.insert(2,1);
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p_map.insert(3,1);
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p_map.insert(4,3);
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p_map.insert(5,1);
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list<Key> expected;
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expected += 4,5,3,2,1;//Key(4), Key(5), Key(3), Key(2), Key(1);
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list<Key> actual = predecessorMap2Keys<Key>(p_map);
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LONGS_EQUAL(expected.size(), actual.size());
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list<Key>::const_iterator it1 = expected.begin();
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list<Key>::const_iterator it2 = actual.begin();
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for(; it1!=expected.end(); it1++, it2++)
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CHECK(*it1 == *it2)
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}
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/* ************************************************************************* */
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TEST ( Ordering, subtract ) {
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Ordering init, delta;
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init += "a", "b", "c", "d", "e";
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CHECK(assert_equal(init.subtract(delta), init));
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delta += "b";
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Ordering expected1;
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expected1 += "a", "c", "d", "e";
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CHECK(assert_equal(init.subtract(delta), expected1));
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delta += "e";
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Ordering expected2;
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expected2 += "a", "c", "d";
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CHECK(assert_equal(init.subtract(delta), expected2));
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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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