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adds tests for OrientedPlane3 derivatives

release/4.3a0
BrettRD 2023-01-09 15:33:48 +11:00
parent a8288746b4
commit 376683b808
2 changed files with 20 additions and 6 deletions
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23
gtsam/geometry/tests/testOrientedPlane3.cpp
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@ -34,19 +34,34 @@ GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3)
//******************************************************************************* //*******************************************************************************
TEST(OrientedPlane3, getMethods) { TEST(OrientedPlane3, getMethods) {
Vector4 c; Vector4 c;
Matrix23 H_normal, expected_H_normal;
Matrix13 H_distance, expected_H_distance;
c << -1, 0, 0, 5; c << -1, 0, 0, 5;
expected_H_normal << 1,0,0,
0,1,0;
expected_H_distance << 0,0,1;
OrientedPlane3 plane1(c); OrientedPlane3 plane1(c);
OrientedPlane3 plane2(c[0], c[1], c[2], c[3]); OrientedPlane3 plane2(c[0], c[1], c[2], c[3]);
Vector4 coefficient1 = plane1.planeCoefficients(); Vector4 coefficient1 = plane1.planeCoefficients();
double distance1 = plane1.distance(); double distance1 = plane1.distance(H_distance);
Unit3 normal1 = plane1.normal(H_normal);
EXPECT(assert_equal(expected_H_normal, H_normal, 1e-5));
EXPECT(assert_equal(expected_H_distance, H_distance, 1e-5));
EXPECT(assert_equal(coefficient1, c, 1e-8)); EXPECT(assert_equal(coefficient1, c, 1e-8));
EXPECT(assert_equal(Unit3(-1,0,0).unitVector(), plane1.normal().unitVector())); EXPECT(assert_equal(Unit3(-1,0,0).unitVector(), normal1.unitVector()));
EXPECT_DOUBLES_EQUAL(distance1, 5, 1e-8); EXPECT_DOUBLES_EQUAL(distance1, 5, 1e-8);
Vector4 coefficient2 = plane2.planeCoefficients(); Vector4 coefficient2 = plane2.planeCoefficients();
double distance2 = plane2.distance(); double distance2 = plane2.distance(H_distance);
Unit3 normal2 = plane2.normal(H_normal);
EXPECT(assert_equal(coefficient2, c, 1e-8)); EXPECT(assert_equal(coefficient2, c, 1e-8));
EXPECT(assert_equal(expected_H_normal, H_normal, 1e-5));
EXPECT(assert_equal(expected_H_distance, H_distance, 1e-5));
EXPECT_DOUBLES_EQUAL(distance2, 5, 1e-8); EXPECT_DOUBLES_EQUAL(distance2, 5, 1e-8);
EXPECT(assert_equal(Unit3(-1,0,0).unitVector(), plane2.normal().unitVector())); EXPECT(assert_equal(Unit3(-1,0,0).unitVector(), normal2.unitVector()));
} }

3
gtsam/slam/expressions.h
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@ -27,8 +27,7 @@ inline Point2_ transformTo(const Pose2_& x, const Point2_& p) {
return Point2_(x, &Pose2::transformTo, p); return Point2_(x, &Pose2::transformTo, p);
} }
inline Double_ range(const Point2_& p, const Point2_& q) inline Double_ range(const Point2_& p, const Point2_& q) {
{
return Double_(Range<Point2, Point2>(), p, q); return Double_(Range<Point2, Point2>(), p, q);
} }