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New tests for Expmap/Logmap derivatives

release/4.3a0
dellaert 2014-12-25 16:11:13 +01:00
parent 8191ad5078
commit 1b61d0a7f3
2 changed files with 24 additions and 6 deletions
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2
gtsam/geometry/Pose2.cpp
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@ -60,7 +60,7 @@ bool Pose2::equals(const Pose2& q, double tol) const {
/* ************************************************************************* */ /* ************************************************************************* */
Pose2 Pose2::Expmap(const Vector& xi, OptionalJacobian<3, 3> H) { Pose2 Pose2::Expmap(const Vector& xi, OptionalJacobian<3, 3> H) {
if (H) CONCEPT_NOT_IMPLEMENTED; if (H) *H = Pose2::ExpmapDerivative(xi);
assert(xi.size() == 3); assert(xi.size() == 3);
Point2 v(xi(0),xi(1)); Point2 v(xi(0),xi(1));
double w = xi(2); double w = xi(2);

28
gtsam/geometry/tests/testPose2.cpp
View File

@ -145,7 +145,6 @@ TEST(Pose2, expmap0d) {
EXPECT(assert_equal(expected, actual, 1e-5)); EXPECT(assert_equal(expected, actual, 1e-5));
} }
#ifdef SLOW_BUT_CORRECT_EXPMAP
/* ************************************************************************* */ /* ************************************************************************* */
// test case for screw motion in the plane // test case for screw motion in the plane
namespace screw { namespace screw {
@ -162,7 +161,6 @@ TEST(Pose3, expmap_c)
EXPECT(assert_equal(screw::expected, Pose2::Expmap(screw::xi),1e-6)); EXPECT(assert_equal(screw::expected, Pose2::Expmap(screw::xi),1e-6));
EXPECT(assert_equal(screw::xi, Pose2::Logmap(screw::expected),1e-6)); EXPECT(assert_equal(screw::xi, Pose2::Logmap(screw::expected),1e-6));
} }
#endif
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Pose2, expmap_c_full) TEST(Pose2, expmap_c_full)
@ -200,10 +198,11 @@ TEST(Pose2, logmap_full) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
Vector3 w = (Vector(3) << 0.1, 0.27, -0.3).finished(); Vector3 w(0.1, 0.27, -0.3);
Vector3 w0 = (Vector(3) << 0.1, 0.27, 0.0).finished(); // alpha = 0 Vector3 w0(0.1, 0.27, 0.0); // alpha = 0
// Left trivialization Derivative of exp(w) over w: How exp(w) changes when w changes? // Left trivialization Derivative of exp(w) over w:
// How exp(w) changes when w changes?
// We find y such that: exp(w) exp(y) = exp(w + dw) for dw --> 0 // We find y such that: exp(w) exp(y) = exp(w + dw) for dw --> 0
// => y = log (exp(-w) * exp(w+dw)) // => y = log (exp(-w) * exp(w+dw))
Vector3 testDexpL(const Vector3 w, const Vector3& dw) { Vector3 testDexpL(const Vector3 w, const Vector3& dw) {
@ -230,6 +229,25 @@ TEST( Pose2, ExpmapDerivative) {
EXPECT(assert_equal(expectedDexpL.inverse(), actualDexpInvL, 1e-5)); EXPECT(assert_equal(expectedDexpL.inverse(), actualDexpInvL, 1e-5));
} }
/* ************************************************************************* */
TEST( Pose2, ExpmapDerivative2) {
Matrix3 actualH;
Pose2::Expmap(w,actualH);
Matrix3 expectedH = numericalDerivative11<Pose2, Vector3>(
boost::bind(Pose2::Expmap, _1, boost::none), w, 1e-2);
EXPECT(assert_equal(expectedH, actualH, 1e-5));
}
/* ************************************************************************* */
TEST( Pose2, LogmapDerivative2) {
Pose2 p = Pose2::Expmap(w);
EXPECT(assert_equal(w, Pose2::Logmap(p), 1e-5));
Matrix3 actualH = Pose2::LogmapDerivative(w);
Matrix3 expectedH = numericalDerivative11<Vector3, Pose2>(
boost::bind(Pose2::Logmap, _1, boost::none), p, 1e-2);
EXPECT(assert_equal(expectedH, actualH, 1e-5));
}
/* ************************************************************************* */ /* ************************************************************************* */
static Point2 transform_to_proxy(const Pose2& pose, const Point2& point) { static Point2 transform_to_proxy(const Pose2& pose, const Point2& point) {
return pose.transform_to(point); return pose.transform_to(point);