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Changed constructor used from Pose2(t,R) to Pose2(R,t)

release/4.3a0
Richard Roberts 2009-12-16 21:39:03 +00:00
parent 8cf1b3b055
commit 83c95f2343
1 changed files with 16 additions and 16 deletions
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32
cpp/testPose2.cpp
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@ -28,8 +28,8 @@ TEST(Pose2, constructors) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Pose2, exmap) { TEST(Pose2, exmap) {
Pose2 pose(Point2(1,2), M_PI_2); Pose2 pose(M_PI_2, Point2(1,2));
Pose2 expected(Point2(1.01, 1.985), M_PI_2+0.018); Pose2 expected(M_PI_2+0.018, Point2(1.01, 1.985));
Pose2 actual = pose.exmap(Vector_(3, 0.01, -0.015, 0.018)); Pose2 actual = pose.exmap(Vector_(3, 0.01, -0.015, 0.018));
CHECK(assert_equal(expected, actual)); CHECK(assert_equal(expected, actual));
} }
@ -44,15 +44,15 @@ TEST(Pose2, exmap) {
//} //}
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Pose2, operators) { //TEST(Pose2, operators) {
CHECK(assert_equal(Pose2(2,2,2),Pose2(1,1,1)+Pose2(1,1,1))); // CHECK(assert_equal(Pose2(2,2,2),Pose2(1,1,1)+Pose2(1,1,1)));
CHECK(assert_equal(Pose2(0,0,0),Pose2(1,1,1)-Pose2(1,1,1))); // CHECK(assert_equal(Pose2(0,0,0),Pose2(1,1,1)-Pose2(1,1,1)));
} //}
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Pose2, transform_to ) TEST( Pose2, transform_to )
{ {
Pose2 pose(1,2,M_PI_2); // robot at (1,2) looking towards y Pose2 pose(M_PI_2, Point2(1,2)); // robot at (1,2) looking towards y
Point2 point(-1,4); // landmark at (-1,4) Point2 point(-1,4); // landmark at (-1,4)
// expected // expected
@ -79,10 +79,10 @@ TEST( Pose2, transform_to )
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Pose2, compose_a) TEST(Pose2, compose_a)
{ {
Pose2 pose1(Point2(.75, .5), Rot2(M_PI/10.0)); Pose2 pose1(Rot2(M_PI/10.0), Point2(.75, .5));
Pose2 pose2(Point2(0.701289620636, 1.34933052585), Rot2(M_PI/4.0-M_PI/10.0)); Pose2 pose2(Rot2(M_PI/4.0-M_PI/10.0), Point2(0.701289620636, 1.34933052585));
Pose2 pose_expected(Point2(1.0, 2.0), Rot2(M_PI/4.0)); Pose2 pose_expected(Rot2(M_PI/4.0), Point2(1.0, 2.0));
Pose2 pose_actual_op = pose2 * pose1; Pose2 pose_actual_op = pose2 * pose1;
Pose2 pose_actual_fcn = pose2.compose(pose1); Pose2 pose_actual_fcn = pose2.compose(pose1);
@ -94,10 +94,10 @@ TEST(Pose2, compose_a)
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Pose2, compose_b) TEST(Pose2, compose_b)
{ {
Pose2 pose1(Point2(1.0, 1.0), Rot2(M_PI/4.0)); Pose2 pose1(Rot2(M_PI/4.0), Point2(1.0, 1.0));
Pose2 pose2(Point2(sqrt(.5), sqrt(.5)), Rot2(M_PI/4.0)); Pose2 pose2(Rot2(M_PI/4.0), Point2(sqrt(.5), sqrt(.5)));
Pose2 pose_expected(Point2(1.0, 2.0), Rot2(M_PI/2.0)); Pose2 pose_expected(Rot2(M_PI/2.0), Point2(1.0, 2.0));
Pose2 pose_actual_op = pose2 * pose1; Pose2 pose_actual_op = pose2 * pose1;
Pose2 pose_actual_fcn = pose2.compose(pose1); Pose2 pose_actual_fcn = pose2.compose(pose1);
@ -110,11 +110,11 @@ TEST(Pose2, compose_b)
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Pose2, between ) TEST( Pose2, between )
{ {
Pose2 p1(1,2,M_PI_2); // robot at (1,2) looking towards y Pose2 p1(M_PI_2, Point2(1,2)); // robot at (1,2) looking towards y
Pose2 p2(-1,4,M_PI); // robot at (-1,4) loooking at negative x Pose2 p2(M_PI, Point2(-1,4)); // robot at (-1,4) loooking at negative x
// expected // expected
Pose2 expected(2,2,M_PI_2); Pose2 expected(M_PI_2, Point2(2,2));
Matrix expectedH1 = Matrix_(3,3, Matrix expectedH1 = Matrix_(3,3,
0.0,-1.0,2.0, 0.0,-1.0,2.0,
1.0,0.0,-2.0, 1.0,0.0,-2.0,