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Another test

release/4.3a0
Frank Dellaert 2011-11-05 15:46:26 +00:00
parent 8e1bc54827
commit 59ead6bb1b
1 changed files with 28 additions and 4 deletions
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32
gtsam/slam/tests/testPose2SLAM.cpp
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@ -44,13 +44,37 @@ static noiseModel::Gaussian::shared_ptr covariance(
//static noiseModel::Gaussian::shared_ptr I3(noiseModel::Unit::Create(3)); //static noiseModel::Gaussian::shared_ptr I3(noiseModel::Unit::Create(3));
/* ************************************************************************* */ /* ************************************************************************* */
Vector f(const Pose2& pose1, const Pose2& pose2) { // Test constraint, small displacement
Vector f1(const Pose2& pose1, const Pose2& pose2) {
Pose2 z(2.1130913087, 0.468461064817, 0.436332312999);
Pose2Factor constraint(1, 2, z, covariance);
return constraint.evaluateError(pose1, pose2);
}
TEST( Pose2SLAM, constraint1 )
{
// create a factor between unknown poses p1 and p2
Pose2 pose1, pose2(2.1130913087, 0.468461064817, 0.436332312999);
Pose2Factor constraint(1, 2, pose2, covariance);
Matrix H1, H2;
Vector actual = constraint.evaluateError(pose1, pose2, H1, H2);
Matrix numericalH1 = numericalDerivative21(&f1 , pose1, pose2);
EXPECT(assert_equal(numericalH1,H1,5e-3));
Matrix numericalH2 = numericalDerivative22(&f1 , pose1, pose2);
EXPECT(assert_equal(numericalH2,H2));
}
/* ************************************************************************* */
// Test constraint, large displacement
Vector f2(const Pose2& pose1, const Pose2& pose2) {
Pose2 z(2,2,M_PI_2); Pose2 z(2,2,M_PI_2);
Pose2Factor constraint(1, 2, z, covariance); Pose2Factor constraint(1, 2, z, covariance);
return constraint.evaluateError(pose1, pose2); return constraint.evaluateError(pose1, pose2);
} }
TEST( Pose2SLAM, constraint ) TEST( Pose2SLAM, constraint2 )
{ {
// create a factor between unknown poses p1 and p2 // create a factor between unknown poses p1 and p2
Pose2 pose1, pose2(2,2,M_PI_2); Pose2 pose1, pose2(2,2,M_PI_2);
@ -58,10 +82,10 @@ TEST( Pose2SLAM, constraint )
Matrix H1, H2; Matrix H1, H2;
Vector actual = constraint.evaluateError(pose1, pose2, H1, H2); Vector actual = constraint.evaluateError(pose1, pose2, H1, H2);
Matrix numericalH1 = numericalDerivative21(&f , pose1, pose2); Matrix numericalH1 = numericalDerivative21(&f2 , pose1, pose2);
EXPECT(assert_equal(numericalH1,H1,5e-3)); EXPECT(assert_equal(numericalH1,H1,5e-3));
Matrix numericalH2 = numericalDerivative22(&f , pose1, pose2); Matrix numericalH2 = numericalDerivative22(&f2 , pose1, pose2);
EXPECT(assert_equal(numericalH2,H2)); EXPECT(assert_equal(numericalH2,H2));
} }