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going to add function to compose orientations along spanning tree

release/4.3a0
Luca 2014-05-15 15:07:05 -04:00
parent a93299f2dc
commit 4c440a45e6
2 changed files with 1017 additions and 982 deletions
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1914
.cproject
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85
examples/tests/testPlanarSLAMExample_lago.cpp
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@ -49,7 +49,7 @@ using namespace std;
using namespace gtsam; using namespace gtsam;
using namespace boost::assign; using namespace boost::assign;
Symbol x0('x', 0), x1('x', 1), x2('x', 2), x3('x',3); Symbol x0('x', 0), x1('x', 1), x2('x', 2), x3('x', 3);
static SharedNoiseModel model(noiseModel::Isotropic::Sigma(3, 0.1)); static SharedNoiseModel model(noiseModel::Isotropic::Sigma(3, 0.1));
static const double PI = boost::math::constants::pi<double>(); static const double PI = boost::math::constants::pi<double>();
@ -72,7 +72,8 @@ static const double PI = boost::math::constants::pi<double>();
#include <gtsam/inference/graph.h> #include <gtsam/inference/graph.h>
Values initializeLago(const NonlinearFactorGraph& graph) { Values initializeLago(const NonlinearFactorGraph& graph) {
// Find a minimum spanning tree // Find a minimum spanning tree
PredecessorMap<Key> tree = findMinimumSpanningTree<NonlinearFactorGraph, Key, BetweenFactor<Pose2> >(graph); PredecessorMap<Key> tree = findMinimumSpanningTree<NonlinearFactorGraph, Key,
BetweenFactor<Pose2> >(graph);
// Order measurements: ordered spanning path first, loop closure later // Order measurements: ordered spanning path first, loop closure later
@ -89,9 +90,7 @@ Values initializeLago(const NonlinearFactorGraph& graph) {
return estimateLago; return estimateLago;
} }
namespace simple {
/* *************************************************************************** */
TEST( Lago, smallGraph_GTmeasurements ) {
// We consider a small graph: // We consider a small graph:
// symbolic FG // symbolic FG
// x2 0 1 // x2 0 1
@ -103,29 +102,65 @@ TEST( Lago, smallGraph_GTmeasurements ) {
// x0 // x0
// //
Pose2 pose0 = Pose2( 0.000000, 0.000000, 0.000000); Pose2 pose0 = Pose2(0.000000, 0.000000, 0.000000);
Pose2 pose1 = Pose2( 1.000000, 1.000000, 1.570796); Pose2 pose1 = Pose2(1.000000, 1.000000, 1.570796);
Pose2 pose2 = Pose2( 0.000000, 2.000000, 3.141593); Pose2 pose2 = Pose2(0.000000, 2.000000, 3.141593);
Pose2 pose3 = Pose2(-1.000000, 1.000000, 4.712389); Pose2 pose3 = Pose2(-1.000000, 1.000000, 4.712389);
NonlinearFactorGraph graph; NonlinearFactorGraph graph() {
graph.add( BetweenFactor<Pose2>(x0, x1, pose0.between(pose1), model)); NonlinearFactorGraph g;
graph.add( BetweenFactor<Pose2>(x1, x2, pose1.between(pose2), model)); g.add(BetweenFactor<Pose2>(x0, x1, pose0.between(pose1), model));
graph.add( BetweenFactor<Pose2>(x2, x3, pose2.between(pose3), model)); g.add(BetweenFactor<Pose2>(x1, x2, pose1.between(pose2), model));
graph.add( BetweenFactor<Pose2>(x2, x0, pose2.between(pose0), model)); g.add(BetweenFactor<Pose2>(x2, x3, pose2.between(pose3), model));
graph.add( BetweenFactor<Pose2>(x0, x3, pose0.between(pose3), model)); g.add(BetweenFactor<Pose2>(x2, x0, pose2.between(pose0), model));
g.add(BetweenFactor<Pose2>(x0, x3, pose0.between(pose3), model));
// graph.print("graph"); return g;
}
Values initialGuessLago = initializeLago(graph);
DOUBLES_EQUAL(0.0, (initialGuessLago.at<Pose2>(x0)).theta(), 1e-6);
DOUBLES_EQUAL(0.5*PI, (initialGuessLago.at<Pose2>(x1)).theta(), 1e-6);
DOUBLES_EQUAL(PI, (initialGuessLago.at<Pose2>(x2)).theta(), 1e-6);
DOUBLES_EQUAL(1.5*PI, (initialGuessLago.at<Pose2>(x3)).theta(), 1e-6);
} }
map<Key, double> misteryFunction(const PredecessorMap<Key>& tree, const NonlinearFactorGraph&){
}
/* *************************************************************************** */
TEST( Lago, sumOverLoops ) {
NonlinearFactorGraph g = simple::graph();
PredecessorMap<Key> tree = findMinimumSpanningTree<NonlinearFactorGraph, Key,
BetweenFactor<Pose2> >(g);
// check the tree structure
EXPECT_LONGS_EQUAL(tree[x0], x0);
EXPECT_LONGS_EQUAL(tree[x1], x0);
EXPECT_LONGS_EQUAL(tree[x2], x0);
EXPECT_LONGS_EQUAL(tree[x3], x0);
g.print("");
map<Key, double> expected;
expected[x0]= 0;
expected[x1]= 1.570796; // edge x0->x1 (consistent with edge (x0,x1))
expected[x2]= -3.141593; // edge x0->x2 (traversed backwards wrt edge (x2,x0))
expected[x3]= 4.712389; // edge x0->x3 (consistent with edge (x0,x3))
map<Key, double> actual;
actual = misteryFunction(tree, g);
}
/* *************************************************************************** */
//TEST( Lago, smallGraph_GTmeasurements ) {
//
// Values initialGuessLago = initializeLago(simple::graph());
//
// DOUBLES_EQUAL(0.0, (initialGuessLago.at<Pose2>(x0)).theta(), 1e-6);
// DOUBLES_EQUAL(0.5 * PI, (initialGuessLago.at<Pose2>(x1)).theta(), 1e-6);
// DOUBLES_EQUAL(PI, (initialGuessLago.at<Pose2>(x2)).theta(), 1e-6);
// DOUBLES_EQUAL(1.5 * PI, (initialGuessLago.at<Pose2>(x3)).theta(), 1e-6);
//}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);} int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */ /* ************************************************************************* */