212 lines
6.8 KiB
C++
212 lines
6.8 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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* -------------------------------1------------------------------------------- */
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/**
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* @file testExpression.cpp
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* @date September 18, 2014
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* @author Frank Dellaert
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* @author Paul Furgale
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* @brief unit tests for Block Automatic Differentiation
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*/
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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#include <gtsam_unstable/nonlinear/Expression.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/LieScalar.h>
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#undef CHECK
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#include <CppUnitLite/TestHarness.h>
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#include <boost/assign/list_of.hpp>
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using boost::assign::list_of;
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using boost::assign::map_list_of;
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using namespace std;
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using namespace gtsam;
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// The DefaultChart of Camera below is laid out like Snavely's 9-dim vector
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typedef PinholeCamera<Cal3Bundler> Camera;
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/* ************************************************************************* */
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// is_manifold
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TEST(Manifold, _is_manifold) {
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using namespace traits;
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EXPECT(!is_manifold<int>::value);
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EXPECT(is_manifold<Point2>::value);
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EXPECT(is_manifold<Matrix24>::value);
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EXPECT(is_manifold<double>::value);
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EXPECT(is_manifold<Vector>::value);
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EXPECT(is_manifold<Matrix>::value);
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}
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/* ************************************************************************* */
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// dimension
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TEST(Manifold, _dimension) {
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using namespace traits;
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EXPECT_LONGS_EQUAL(2, dimension<Point2>::value);
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EXPECT_LONGS_EQUAL(8, dimension<Matrix24>::value);
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EXPECT_LONGS_EQUAL(1, dimension<double>::value);
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EXPECT_LONGS_EQUAL(Eigen::Dynamic, dimension<Vector>::value);
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EXPECT_LONGS_EQUAL(Eigen::Dynamic, dimension<Matrix>::value);
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}
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/* ************************************************************************* */
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// charts
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TEST(Manifold, DefaultChart) {
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DefaultChart<Point2> chart1;
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EXPECT(chart1.local(Point2(0, 0), Point2(1, 0)) == Vector2(1, 0));
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EXPECT(chart1.retract(Point2(0, 0), Vector2(1, 0)) == Point2(1, 0));
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Vector v2(2);
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v2 << 1, 0;
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DefaultChart<Vector2> chart2;
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EXPECT(assert_equal(v2, chart2.local(Vector2(0, 0), Vector2(1, 0))));
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EXPECT(chart2.retract(Vector2(0, 0), v2) == Vector2(1, 0));
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{
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typedef Matrix2 ManifoldPoint;
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ManifoldPoint m;
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DefaultChart<ManifoldPoint> chart;
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m << 1, 3,
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2, 4;
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// m as per default is in column-major storage mode. So this yields a linear representation of (1, 2, 3, 4)!
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EXPECT(assert_equal(Vector(Vector4(1, 2, 3, 4)), Vector(chart.local(ManifoldPoint::Zero(), m))));
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EXPECT(chart.retract(m, Vector4(1, 2, 3, 4)) == 2 * m);
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}
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{
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typedef Eigen::Matrix<double, 1, 2> ManifoldPoint;
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ManifoldPoint m;
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DefaultChart<ManifoldPoint> chart;
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m << 1, 2;
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EXPECT(assert_equal(Vector(Vector2(1, 2)), Vector(chart.local(ManifoldPoint::Zero(), m))));
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EXPECT(chart.retract(m, Vector2(1, 2)) == 2 * m);
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}
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{
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typedef Eigen::Matrix<double, 1, 1> ManifoldPoint;
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ManifoldPoint m;
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DefaultChart<ManifoldPoint> chart;
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m << 1;
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EXPECT(assert_equal(Vector(ManifoldPoint::Ones()), Vector(chart.local(ManifoldPoint::Zero(), m))));
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EXPECT(chart.retract(m, ManifoldPoint::Ones()) == 2 * m);
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}
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DefaultChart<double> chart3;
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Vector v1(1);
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v1 << 1;
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EXPECT(assert_equal(v1, chart3.local(0, 1)));
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EXPECT_DOUBLES_EQUAL(chart3.retract(0, v1), 1, 1e-9);
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// Dynamic does not work yet !
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Vector z = zero(2), v(2);
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v << 1, 0;
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DefaultChart<Vector> chart4;
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EXPECT(assert_equal(chart4.local(z, v), v));
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EXPECT(assert_equal(chart4.retract(z, v), v));
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Vector v3(3);
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v3 << 1, 1, 1;
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Rot3 I = Rot3::identity();
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Rot3 R = I.retract(v3);
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DefaultChart<Rot3> chart5;
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EXPECT(assert_equal(v3, chart5.local(I, R)));
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EXPECT(assert_equal(chart5.retract(I, v3), R));
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// Check zero vector
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DefaultChart<Rot3> chart6;
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EXPECT(assert_equal(zero(3), chart6.local(R, R)));
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}
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/* ************************************************************************* */
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// zero
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TEST(Manifold, _zero) {
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EXPECT(assert_equal(Pose3(), traits::zero<Pose3>::value()));
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Cal3Bundler cal(0, 0, 0);
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EXPECT(assert_equal(cal, traits::zero<Cal3Bundler>::value()));
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EXPECT(assert_equal(Camera(Pose3(), cal), traits::zero<Camera>::value()));
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EXPECT(assert_equal(Point2(), traits::zero<Point2>::value()));
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EXPECT(assert_equal(Matrix(Matrix24::Zero()), Matrix(traits::zero<Matrix24>::value())));
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EXPECT_DOUBLES_EQUAL(0.0, traits::zero<double>::value(), 0.0);
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}
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/* ************************************************************************* */
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// identity
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TEST(Manifold, _identity) {
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EXPECT(assert_equal(Pose3(), traits::identity<Pose3>::value()));
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EXPECT(assert_equal(Cal3Bundler(), traits::identity<Cal3Bundler>::value()));
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EXPECT(assert_equal(Camera(), traits::identity<Camera>::value()));
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EXPECT(assert_equal(Point2(), traits::identity<Point2>::value()));
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EXPECT(assert_equal(Matrix(Matrix24::Zero()), Matrix(traits::identity<Matrix24>::value())));
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EXPECT_DOUBLES_EQUAL(0.0, traits::identity<double>::value(), 0.0);
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}
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/* ************************************************************************* */
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// charts
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TEST(Manifold, Canonical) {
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Canonical<Point2> chart1;
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EXPECT(chart1.local(Point2(1, 0))==Vector2(1, 0));
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EXPECT(chart1.retract(Vector2(1, 0))==Point2(1, 0));
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Vector v2(2);
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v2 << 1, 0;
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Canonical<Vector2> chart2;
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EXPECT(assert_equal(v2, chart2.local(Vector2(1, 0))));
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EXPECT(chart2.retract(v2)==Vector2(1, 0));
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Canonical<double> chart3;
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Eigen::Matrix<double, 1, 1> v1;
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v1 << 1;
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EXPECT(chart3.local(1)==v1);
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EXPECT_DOUBLES_EQUAL(chart3.retract(v1), 1, 1e-9);
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Canonical<Point3> chart4;
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Point3 point(1, 2, 3);
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Vector v3(3);
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v3 << 1, 2, 3;
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EXPECT(assert_equal(v3, chart4.local(point)));
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EXPECT(assert_equal(chart4.retract(v3), point));
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Canonical<Pose3> chart5;
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Pose3 pose(Rot3::identity(), point);
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Vector v6(6);
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v6 << 0, 0, 0, 1, 2, 3;
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EXPECT(assert_equal(v6, chart5.local(pose)));
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EXPECT(assert_equal(chart5.retract(v6), pose));
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Canonical<Camera> chart6;
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Cal3Bundler cal0(0, 0, 0);
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Camera camera(Pose3(), cal0);
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Vector z9 = Vector9::Zero();
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EXPECT(assert_equal(z9, chart6.local(camera)));
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EXPECT(assert_equal(chart6.retract(z9), camera));
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Cal3Bundler cal; // Note !! Cal3Bundler() != zero<Cal3Bundler>::value()
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Camera camera2(pose, cal);
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Vector v9(9);
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v9 << 0, 0, 0, 1, 2, 3, 1, 0, 0;
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EXPECT(assert_equal(v9, chart6.local(camera2)));
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EXPECT(assert_equal(chart6.retract(v9), camera2));
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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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