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Loop closure tested

release/4.3a0
Frank Dellaert 2010-01-10 17:02:49 +00:00
parent 12caabb667
commit 8d84078036
1 changed files with 52 additions and 4 deletions
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56
cpp/testPose2Factor.cpp
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@ -16,6 +16,7 @@ using namespace boost::assign;
#include "NonlinearOptimizer-inl.h"
#include "NonlinearEquality.h"
#include "Pose2Factor.h"
#include "Ordering.h"
#include "Pose2Graph.h"
using namespace std;
@ -157,12 +158,10 @@ TEST(Pose2Factor, optimize) {
feasible.insert("p0", Pose2(0,0,0));
fg.push_back(Pose2Graph::sharedFactor(
new NonlinearEquality<Pose2Config>("p0", feasible, dim(Pose2()), poseCompare)));
fg.push_back(Pose2Graph::sharedFactor(
new Pose2Factor("p0", "p1", Pose2(1,2,M_PI_2), covariance)));
fg.add("p0", "p1", Pose2(1,2,M_PI_2), covariance);
// Create initial config
boost::shared_ptr<Pose2Config> initial =
boost::shared_ptr<Pose2Config>(new Pose2Config());
boost::shared_ptr<Pose2Config> initial(new Pose2Config());
initial->insert("p0", Pose2(0,0,0));
initial->insert("p1", Pose2(0,0,0));
@ -183,6 +182,55 @@ TEST(Pose2Factor, optimize) {
}
/* ************************************************************************* */
// test optimization with 6 poses arranged in a hexagon and a loop closure
TEST(Pose2Factor, optimizeCircle) {
// Create a hexagon of poses
Pose2Config hexagon = pose2Circle(6,1.0,'p');
Pose2 p0 = hexagon["p0"], p1 = hexagon["p1"];
// create a Pose graph with one equality constraint and one measurement
Pose2Graph fg;
Pose2Config feasible;
feasible.insert("p0", p0);
fg.push_back(Pose2Graph::sharedFactor(
new NonlinearEquality<Pose2Config>("p0", feasible, dim(Pose2()), poseCompare)));
Pose2 delta = between(p0,p1);
fg.add("p0", "p1", delta, covariance);
fg.add("p1", "p2", delta, covariance);
fg.add("p2", "p3", delta, covariance);
fg.add("p3", "p4", delta, covariance);
fg.add("p4", "p5", delta, covariance);
fg.add("p5", "p0", delta, covariance);
// Create initial config
boost::shared_ptr<Pose2Config> initial(new Pose2Config());
initial->insert("p0", p0);
initial->insert("p1", expmap(hexagon["p1"],Vector_(3,-0.1, 0.1,-0.1)));
initial->insert("p2", expmap(hexagon["p2"],Vector_(3, 0.1,-0.1, 0.1)));
initial->insert("p3", expmap(hexagon["p3"],Vector_(3,-0.1, 0.1,-0.1)));
initial->insert("p4", expmap(hexagon["p4"],Vector_(3, 0.1,-0.1, 0.1)));
initial->insert("p5", expmap(hexagon["p5"],Vector_(3,-0.1, 0.1,-0.1)));
// Choose an ordering and optimize
Ordering ordering;
ordering += "p0","p1","p2","p3","p4","p5";
typedef NonlinearOptimizer<Pose2Graph, Pose2Config> Optimizer;
Optimizer optimizer(fg, ordering, initial);
// Optimizer::verbosityLevel verbosity = Optimizer::SILENT;
Optimizer::verbosityLevel verbosity = Optimizer::ERROR;
optimizer = optimizer.levenbergMarquardt(1e-15, 1e-15, verbosity);
Pose2Config actual = *optimizer.config();
// Check with ground truth
CHECK(assert_equal(hexagon, actual));
// Check loop closure
CHECK(assert_equal(delta,between(actual["p5"],actual["p0"])));
}
/* ************************************************************************* */
int main() {
TestResult tr;