expressionTesting.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/base/Testable.h>

namespace gtsam {

namespace internal {
// CPPUnitLite-style test for linearization of an ExpressionFactor
template<typename T>
bool testExpressionJacobians(const std::string& name_,
    const gtsam::Expression<T>& expression, const gtsam::Values& values,
    double nd_step, double tolerance) {
  // Create factor
  size_t size = traits<T>::dimension;
  ExpressionFactor<T> f(noiseModel::Unit::Create(size),
      expression.value(values), expression);
  return testFactorJacobians(name_, f, values, nd_step, tolerance);
}
} // namespace internal
} // namespace gtsam

#define EXPECT_CORRECT_EXPRESSION_JACOBIANS(expression, values, numerical_derivative_step, tolerance) \
    { EXPECT(gtsam::internal::testExpressionJacobians(name_, expression, values, numerical_derivative_step, tolerance)); }