update tests

borglab · Oct 16, 2024 · 94a95b6 · 94a95b6
1 parent 49a3b2e
commit 94a95b6
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Showing 4 changed files with 22 additions and 22 deletions.
diff --git a/python/gtsam/tests/test_NonlinearOptimizer.py b/python/gtsam/tests/test_NonlinearOptimizer.py
@@ -69,7 +69,7 @@ def test_levenberg_marquardt_pcg(self):
         lmParams = LevenbergMarquardtParams.CeresDefaults()
         lmParams.setLinearSolverType("ITERATIVE")
         cgParams = PCGSolverParameters()
-        cgParams.setPreconditionerParams(DummyPreconditionerParameters())
+        cgParams.preconditioner = DummyPreconditionerParameters()
         lmParams.setIterativeParams(cgParams)
         actual = LevenbergMarquardtOptimizer(self.fg, self.initial_values, lmParams).optimize()
         self.assertAlmostEqual(0, self.fg.error(actual))

diff --git a/tests/testIterative.cpp b/tests/testIterative.cpp
@@ -95,9 +95,9 @@ TEST( Iterative, conjugateGradientDescent_hard_constraint )
   VectorValues zeros = config.zeroVectors();
 
   ConjugateGradientParameters parameters;
-  parameters.setEpsilon_abs(1e-3);
-  parameters.setEpsilon_rel(1e-5);
-  parameters.setMaxIterations(100);
+  parameters.epsilon_abs = 1e-3;
+  parameters.epsilon_rel = 1e-5;
+  parameters.maxIterations = 100;
   VectorValues actual = conjugateGradientDescent(*fg, zeros, parameters);
 
   VectorValues expected;
@@ -122,9 +122,9 @@ TEST( Iterative, conjugateGradientDescent_soft_constraint )
   VectorValues zeros = config.zeroVectors();
 
   ConjugateGradientParameters parameters;
-  parameters.setEpsilon_abs(1e-3);
-  parameters.setEpsilon_rel(1e-5);
-  parameters.setMaxIterations(100);
+  parameters.epsilon_abs = 1e-3;
+  parameters.epsilon_rel = 1e-5;
+  parameters.maxIterations = 100;
   VectorValues actual = conjugateGradientDescent(*fg, zeros, parameters);
 
   VectorValues expected;

diff --git a/tests/testPreconditioner.cpp b/tests/testPreconditioner.cpp
@@ -54,21 +54,21 @@ TEST( PCGsolver, verySimpleLinearSystem) {
   // Solve the system using Preconditioned Conjugate Gradient solver
   // Common PCG parameters
   gtsam::PCGSolverParameters::shared_ptr pcg = std::make_shared<gtsam::PCGSolverParameters>();
-  pcg->setMaxIterations(500);
-  pcg->setEpsilon_abs(0.0);
-  pcg->setEpsilon_rel(0.0);
+  pcg->maxIterations = 500;
+  pcg->epsilon_abs = 0.0;
+  pcg->epsilon_rel = 0.0;
   //pcg->setVerbosity("ERROR");
 
   // With Dummy preconditioner
-  pcg->setPreconditionerParams(
-      std::make_shared<gtsam::DummyPreconditionerParameters>());
+  pcg->preconditioner =
+      std::make_shared<gtsam::DummyPreconditionerParameters>();
   VectorValues deltaPCGDummy = PCGSolver(*pcg).optimize(simpleGFG);
   EXPECT(assert_equal(exactSolution, deltaPCGDummy, 1e-7));
   //deltaPCGDummy.print("PCG Dummy");
 
   // With Block-Jacobi preconditioner
-  pcg->setPreconditionerParams(
-      std::make_shared<gtsam::BlockJacobiPreconditionerParameters>());
+  pcg->preconditioner =
+      std::make_shared<gtsam::BlockJacobiPreconditionerParameters>();
   // It takes more than 1000 iterations for this test
   pcg->setMaxIterations(1500);
   VectorValues deltaPCGJacobi = PCGSolver(*pcg).optimize(simpleGFG);
@@ -107,21 +107,21 @@ TEST(PCGSolver, simpleLinearSystem) {
   // Solve the system using Preconditioned Conjugate Gradient solver
   // Common PCG parameters
   gtsam::PCGSolverParameters::shared_ptr pcg = std::make_shared<gtsam::PCGSolverParameters>();
-  pcg->setMaxIterations(500);
-  pcg->setEpsilon_abs(0.0);
-  pcg->setEpsilon_rel(0.0);
+  pcg->maxIterations = 500;
+  pcg->epsilon_abs = 0.0;
+  pcg->epsilon_rel = 0.0;
   //pcg->setVerbosity("ERROR");
 
   // With Dummy preconditioner
-  pcg->setPreconditionerParams(
-      std::make_shared<gtsam::DummyPreconditionerParameters>());
+  pcg->preconditioner =
+      std::make_shared<gtsam::DummyPreconditionerParameters>();
   VectorValues deltaPCGDummy = PCGSolver(*pcg).optimize(simpleGFG);
   EXPECT(assert_equal(expectedSolution, deltaPCGDummy, 1e-5));
   //deltaPCGDummy.print("PCG Dummy");
 
   // With Block-Jacobi preconditioner
-  pcg->setPreconditionerParams(
-      std::make_shared<gtsam::BlockJacobiPreconditionerParameters>());
+  pcg->preconditioner =
+      std::make_shared<gtsam::BlockJacobiPreconditionerParameters>();
   VectorValues deltaPCGJacobi = PCGSolver(*pcg).optimize(simpleGFG);
   EXPECT(assert_equal(expectedSolution, deltaPCGJacobi, 1e-5));
   //deltaPCGJacobi.print("PCG Jacobi");

diff --git a/timing/timeShonanFactor.cpp b/timing/timeShonanFactor.cpp
@@ -83,7 +83,7 @@ int main(int argc, char* argv[]) {
   // params.setVerbosityLM("SUMMARY");
   // params.linearSolverType = LevenbergMarquardtParams::Iterative;
   // auto pcg = std::make_shared<PCGSolverParameters>();
-  // pcg->preconditioner_ =
+  // pcg->preconditioner =
   // std::make_shared<SubgraphPreconditionerParameters>();
   // std::make_shared<BlockJacobiPreconditionerParameters>();
   // params.iterativeParams = pcg;