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Fixed test_autodiffhelpers

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This commit is contained in:
babrodtk 2015-08-27 12:31:16 +02:00
parent 3a9a153c22
commit 945593295d
1 changed files with 34 additions and 22 deletions
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56
tests/test_autodiffhelpers.cpp
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@ -79,6 +79,7 @@ BOOST_AUTO_TEST_CASE(vertcatCollapseJacsTest)
typedef AutoDiffBlock<double> ADB; typedef AutoDiffBlock<double> ADB;
typedef ADB::V V; typedef ADB::V V;
typedef ADB::M M; typedef ADB::M M;
typedef Eigen::SparseMatrix<double> S;
// We will build a system with the block structure // We will build a system with the block structure
// { 2, 0, 1 } (total of three columns) and { 1, 2, 1 } (row) sizes. // { 2, 0, 1 } (total of three columns) and { 1, 2, 1 } (row) sizes.
@ -95,13 +96,17 @@ BOOST_AUTO_TEST_CASE(vertcatCollapseJacsTest)
// First block. // First block.
V val(1); V val(1);
val << 10; val << 10;
std::vector<M> jacs(3); std::vector<M> jacs;
jacs[0] = M(1, 2); jacs.reserve(3);
jacs[1] = M(1, 0); S s1(1, 2);
jacs[2] = M(1, 1); S s2(1, 0);
jacs[0].insert(0, 0) = 1.0; S s3(1, 1);
jacs[0].insert(0, 1) = 2.0; s1.insert(0, 0) = 1.0;
jacs[2].insert(0, 0) = 3.0; s1.insert(0, 1) = 2.0;
s3.insert(0, 0) = 3.0;
jacs.push_back(M(s1));
jacs.push_back(M(s2));
jacs.push_back(M(s3));
v.push_back(ADB::function(val, jacs)); v.push_back(ADB::function(val, jacs));
} }
{ {
@ -114,13 +119,17 @@ BOOST_AUTO_TEST_CASE(vertcatCollapseJacsTest)
// Third block. // Third block.
V val(1); V val(1);
val << 13; val << 13;
std::vector<M> jacs(3); std::vector<M> jacs(0);
jacs[0] = M(1, 2); jacs.reserve(3);
jacs[1] = M(1, 0); S s1(1, 2);
jacs[2] = M(1, 1); S s2(1, 0);
jacs[0].insert(0, 0) = 4.0; S s3(1, 1);
jacs[0].insert(0, 1) = 5.0; s1.insert(0, 0) = 4.0;
jacs[2].insert(0, 0) = 6.0; s1.insert(0, 1) = 5.0;
s3.insert(0, 0) = 6.0;
jacs.push_back(M(s1));
jacs.push_back(M(s2));
jacs.push_back(M(s3));
v.push_back(ADB::function(val, jacs)); v.push_back(ADB::function(val, jacs));
} }
std::vector<int> expected_block_pattern{ 2, 0, 1 }; std::vector<int> expected_block_pattern{ 2, 0, 1 };
@ -132,17 +141,20 @@ BOOST_AUTO_TEST_CASE(vertcatCollapseJacsTest)
// Build expected results. // Build expected results.
V expected_val(4); V expected_val(4);
expected_val << 10, 11, 12, 13; expected_val << 10, 11, 12, 13;
M expected_jac(4, 3); S expected_jac_s(4, 3);
expected_jac.insert(0, 0) = 1.0; expected_jac_s.insert(0, 0) = 1.0;
expected_jac.insert(0, 1) = 2.0; expected_jac_s.insert(0, 1) = 2.0;
expected_jac.insert(0, 2) = 3.0; expected_jac_s.insert(0, 2) = 3.0;
expected_jac.insert(3, 0) = 4.0; expected_jac_s.insert(3, 0) = 4.0;
expected_jac.insert(3, 1) = 5.0; expected_jac_s.insert(3, 1) = 5.0;
expected_jac.insert(3, 2) = 6.0; expected_jac_s.insert(3, 2) = 6.0;
M expected_jac(expected_jac_s);
// Compare. // Compare.
BOOST_CHECK((x.value() == expected_val).all()); BOOST_CHECK((x.value() == expected_val).all());
BOOST_CHECK(x.derivative()[0] == expected_jac); S derivative;
x.derivative()[0].toSparse(derivative);
BOOST_CHECK(derivative == expected_jac_s);
} }