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testPose2Graph tests linearize

release/4.3a0
Viorela Ila 2009-12-11 19:32:46 +00:00
parent a66f08a5e0
commit 03304ac421
1 changed files with 48 additions and 2 deletions
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50
cpp/testPose2Graph.cpp
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@ -4,6 +4,8 @@
#include <CppUnitLite/TestHarness.h>
#include "Pose2Graph.h"
#include "NonlinearFactorGraph-inl.h"
#include "GaussianFactorGraph.h"
using namespace std;
using namespace gtsam;
@ -18,15 +20,59 @@ TEST( Pose2Graph, constructor )
0.0, 0.25, 0.0,
0.0, 0.0, 0.01
);
Pose2Factor constraint("p1","p2",measured, measurement_covariance);
Pose2Factor constraint("x1","x2",measured, measurement_covariance);
Pose2Graph graph;
graph.push_back(Pose2Factor::shared_ptr(new Pose2Factor("p1","p2",measured, measurement_covariance)));
graph.push_back(Pose2Factor::shared_ptr(new Pose2Factor("x1","x2",measured, measurement_covariance)));
// get the size of the graph
size_t actual = graph.size();
// verify
size_t expected = 1;
CHECK(actual == expected);
}
TEST( Pose2Graph, linerization )
{
// create a factor between unknown poses p1 and p2
Pose2 measured(2,2,M_PI_2);
Matrix measurement_covariance = Matrix_(3,3,
0.25, 0.0, 0.0,
0.0, 0.25, 0.0,
0.0, 0.0, 0.01
);
Pose2Factor constraint("x1","x2",measured, measurement_covariance);
Pose2Graph graph;
graph.push_back(Pose2Factor::shared_ptr(new Pose2Factor("x1","x2",measured, measurement_covariance)));
// Choose a linearization point
Pose2 p1(1.1,2,M_PI_2); // robot at (1.1,2) looking towards y (ground truth is at 1,2, see testPose2)
Pose2 p2(-1,4.1,M_PI); // robot at (-1,4) looking at negative (ground truth is at 4.1,2)
Pose2Config config;
config.insert("x1",p1);
config.insert("x2",p2);
// Linearize
GaussianFactorGraph lfg_linearized = graph.linearize(config);
lfg_linearized.print("lfg_actual");
// the expected linear factor
GaussianFactorGraph lfg_expected;
Matrix A1 = Matrix_(3,3,
0.0, 2.0, -4.2,
-2.0, 0.0, 4.2,
0.0, 0.0, 10.0);
Matrix A2 = Matrix_(3,3,
0.0, -2.0, 0.0,
2.0, 0.0, 0.0,
0.0, 0.0, -10.0);
double sigma = 1;
Vector b = Vector_(3,-0.1,-0.1,0.0);
lfg_expected.add("x1", A1, "x2", A2, b, sigma);
CHECK(lfg_expected.equals(lfg_linearized));
}
/* ************************************************************************* */
int main() {