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Added lots of tests for BetweenFactor

release/4.3a0
Varun Agrawal 2021-07-08 19:41:01 -04:00
parent cd3854a1f6
commit 2ecad47b9e
1 changed files with 51 additions and 8 deletions
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59
gtsam/slam/tests/testBetweenFactor.cpp
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@ -1,18 +1,19 @@
/** /**
* @file testBetweenFactor.cpp * @file testBetweenFactor.cpp
* @brief * @brief
* @author Duy-Nguyen Ta * @author Duy-Nguyen Ta, Varun Agrawal
* @date Aug 2, 2013 * @date Aug 2, 2013
*/ */
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Rot3.h> #include <gtsam/geometry/Rot3.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <boost/bind/bind.hpp>
#include <CppUnitLite/TestHarness.h>
using namespace boost::placeholders; using namespace boost::placeholders;
using namespace gtsam; using namespace gtsam;
using namespace gtsam::symbol_shorthand; using namespace gtsam::symbol_shorthand;
@ -48,7 +49,6 @@ TEST(BetweenFactor, Rot3) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
/*
// Constructor scalar // Constructor scalar
TEST(BetweenFactor, ConstructorScalar) { TEST(BetweenFactor, ConstructorScalar) {
SharedNoiseModel model; SharedNoiseModel model;
@ -56,6 +56,7 @@ TEST(BetweenFactor, ConstructorScalar) {
BetweenFactor<double> factor(1, 2, measured_value, model); BetweenFactor<double> factor(1, 2, measured_value, model);
} }
/* ************************************************************************* */
// Constructor vector3 // Constructor vector3
TEST(BetweenFactor, ConstructorVector3) { TEST(BetweenFactor, ConstructorVector3) {
SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0); SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
@ -63,13 +64,55 @@ TEST(BetweenFactor, ConstructorVector3) {
BetweenFactor<Vector3> factor(1, 2, measured_value, model); BetweenFactor<Vector3> factor(1, 2, measured_value, model);
} }
/* ************************************************************************* */
// Constructor dynamic sized vector // Constructor dynamic sized vector
TEST(BetweenFactor, ConstructorDynamicSizeVector) { TEST(BetweenFactor, ConstructorDynamicSizeVector) {
SharedNoiseModel model = noiseModel::Isotropic::Sigma(5, 1.0); SharedNoiseModel model = noiseModel::Isotropic::Sigma(5, 1.0);
Vector measured_value(5); measured_value << 1, 2, 3, 4, 5; Vector measured_value(5); measured_value << 1, 2, 3, 4, 5;
BetweenFactor<Vector> factor(1, 2, measured_value, model); BetweenFactor<Vector> factor(1, 2, measured_value, model);
} }
*/
/* ************************************************************************* */
TEST(BetweenFactor, Point3Jacobians) {
SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
Point3 measured_value(1, 2, 3);
BetweenFactor<Point3> factor(1, 2, measured_value, model);
Values values;
values.insert(1, Point3(0, 0, 0));
values.insert(2, Point3(1, 2, 3));
Vector3 error = factor.evaluateError(Point3(0, 0, 0), Point3(1, 2, 3));
EXPECT(assert_equal<Vector3>(Vector3::Zero(), error, 1e-9));
EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);
}
/* ************************************************************************* */
TEST(BetweenFactor, Rot3Jacobians) {
SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
Rot3 measured_value = Rot3::Ry(M_PI_2);
BetweenFactor<Rot3> factor(1, 2, measured_value, model);
Values values;
values.insert(1, Rot3());
values.insert(2, Rot3::Ry(M_PI_2));
Vector3 error = factor.evaluateError(Rot3(), Rot3::Ry(M_PI_2));
EXPECT(assert_equal<Vector3>(Vector3::Zero(), error, 1e-9));
EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);
}
/* ************************************************************************* */
TEST(BetweenFactor, Pose3Jacobians) {
SharedNoiseModel model = noiseModel::Isotropic::Sigma(6, 1.0);
Pose3 measured_value(Rot3(), Point3(1, 2, 3));
BetweenFactor<Pose3> factor(1, 2, measured_value, model);
Values values;
values.insert(1, Pose3());
values.insert(2, Pose3(Rot3(), Point3(1, 2, 3)));
Vector3 error = factor.evaluateError(Pose3(), Pose3(Rot3(), Point3(1, 2, 3)));
EXPECT(assert_equal<Vector3>(Vector3::Zero(), error, 1e-9));
EXPECT_CORRECT_FACTOR_JACOBIANS(factor, values, 1e-7, 1e-5);
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {