47 lines
1.2 KiB
C++
47 lines
1.2 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/*
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* testErrors.cpp
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*
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* Created on: Feb 20, 2010
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* @Author: Frank Dellaert
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*/
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#include <boost/assign/std/list.hpp> // for +=
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using namespace boost::assign;
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/linear/Errors.h>
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( Errors, arithmetic )
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{
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Errors e;
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e += Vector_(2,1.0,2.0), Vector_(3,3.0,4.0,5.0);
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DOUBLES_EQUAL(1+4+9+16+25,dot(e,e),1e-9);
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axpy(2.0,e,e);
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Errors expected;
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expected += Vector_(2,3.0,6.0), Vector_(3,9.0,12.0,15.0);
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CHECK(assert_equal(expected,e));
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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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