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release/4.3a0
Richard Roberts 2009-12-15 00:00:02 +00:00
parent a7a5e5e816
commit 94f986bbe7
5 changed files with 369 additions and 363 deletions
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106
cpp/Pose2.cpp
View File

@ -9,68 +9,68 @@ using namespace std;
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
void Pose2::print(const string& s) const { void Pose2::print(const string& s) const {
cout << s << "(" << t_.x() << ", " << t_.y() << ", " << r_.theta() << ")" << endl; cout << s << "(" << t_.x() << ", " << t_.y() << ", " << r_.theta() << ")" << endl;
} }
/* ************************************************************************* */ /* ************************************************************************* */
bool Pose2::equals(const Pose2& q, double tol) const { bool Pose2::equals(const Pose2& q, double tol) const {
return t_.equals(q.t_, tol) && r_.equals(q.r_, tol); return t_.equals(q.t_, tol) && r_.equals(q.r_, tol);
} }
/* ************************************************************************* */ /* ************************************************************************* */
Pose2 Pose2::exmap(const Vector& v) const { Pose2 Pose2::exmap(const Vector& v) const {
return Pose2(t_+Point2(v(0),v(1)), r_.exmap(Vector_(1, v(2)))); return Pose2(t_+Point2(v(0),v(1)), r_.exmap(Vector_(1, v(2))));
} }
/* ************************************************************************* */ /* ************************************************************************* */
Vector Pose2::vector() const { Vector Pose2::vector() const {
return Vector_(3, t_.x(), t_.y(), r_.theta()); return Vector_(3, t_.x(), t_.y(), r_.theta());
} }
/* ************************************************************************* */ /* ************************************************************************* */
// Pose2 Pose2::rotate(double theta) const { // Pose2 Pose2::rotate(double theta) const {
// //return Pose2(t_, Rot2(theta)*r_); // //return Pose2(t_, Rot2(theta)*r_);
// return Pose2(Point2(0.0,0.0),-theta)*(*this); // return Pose2(Point2(0.0,0.0),-theta)*(*this);
// } // }
/* ************************************************************************* */ /* ************************************************************************* */
Point2 transform_to(const Pose2& pose, const Point2& point) { Point2 transform_to(const Pose2& pose, const Point2& point) {
return pose*point; return pose*point;
} }
// TODO, have a combined function that returns both function value and derivative // TODO, have a combined function that returns both function value and derivative
Matrix Dtransform_to1(const Pose2& pose, const Point2& point) { Matrix Dtransform_to1(const Pose2& pose, const Point2& point) {
Matrix dx_dt = pose.r().negtranspose(); Matrix dx_dt = pose.r().negtranspose();
Matrix dx_dr = Dunrotate1(pose.r(), point-pose.t()); Matrix dx_dr = Dunrotate1(pose.r(), point-pose.t());
return collect(2, &dx_dt, &dx_dr); return collect(2, &dx_dt, &dx_dr);
} }
Matrix Dtransform_to2(const Pose2& pose, const Point2& point) { Matrix Dtransform_to2(const Pose2& pose, const Point2& point) {
return pose.r().transpose(); return pose.r().transpose();
} }
/* ************************************************************************* */ /* ************************************************************************* */
Pose2 between(const Pose2& p1, const Pose2& p2) { Pose2 between(const Pose2& p1, const Pose2& p2) {
return Pose2( return Pose2(
p1.r().invcompose(p2.r()), p1.r().invcompose(p2.r()),
p1.r().unrotate(p2.t() - p1.t())); p1.r().unrotate(p2.t() - p1.t()));
} }
Matrix Dbetween1(const Pose2& p1, const Pose2& p2) { Matrix Dbetween1(const Pose2& p1, const Pose2& p2) {
Matrix dbt_dp = Dtransform_to1(p1, p2.t()); Matrix dbt_dp = Dtransform_to1(p1, p2.t());
Matrix dbr_dp = Matrix_(1,3, 0.0, 0.0, -1.0); Matrix dbr_dp = Matrix_(1,3, 0.0, 0.0, -1.0);
return stack(2, &dbt_dp, &dbr_dp); return stack(2, &dbt_dp, &dbr_dp);
} }
Matrix Dbetween2(const Pose2& p1, const Pose2& p2) { Matrix Dbetween2(const Pose2& p1, const Pose2& p2) {
Matrix db_dt2 = p1.r().transpose(); Matrix db_dt2 = p1.r().transpose();
return Matrix_(3,3, return Matrix_(3,3,
db_dt2.data()[0], db_dt2.data()[1], 0.0, db_dt2.data()[0], db_dt2.data()[1], 0.0,
db_dt2.data()[2], db_dt2.data()[3], 0.0, db_dt2.data()[2], db_dt2.data()[3], 0.0,
0.0, 0.0, 1.0); 0.0, 0.0, 1.0);
} }
/* ************************************************************************* */ /* ************************************************************************* */
} // namespace gtsam } // namespace gtsam

196
cpp/Pose2.h
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@ -16,111 +16,111 @@
namespace gtsam { namespace gtsam {
/** /**
* A 2D pose (Point2,Rot2) * A 2D pose (Point2,Rot2)
*/ */
class Pose2: Testable<Pose2> { class Pose2: Testable<Pose2> {
private: private:
Point2 t_; Point2 t_;
Rot2 r_; Rot2 r_;
public: public:
/** default constructor = origin */ /** default constructor = origin */
Pose2() : Pose2() :
t_(0.0, 0.0), r_(0) { } // default is origin t_(0.0, 0.0), r_(0) { } // default is origin
/** copy constructor */ /** copy constructor */
Pose2(const Pose2& pose) : Pose2(const Pose2& pose) :
t_(pose.t_), r_(pose.r_) { } t_(pose.t_), r_(pose.r_) { }
/**
* construct from (x,y,theta)
* @param x x coordinate
* @param y y coordinate
* @param theta angle with positive X-axis
*/
Pose2(double x, double y, double theta) :
t_(x,y), r_(theta) { }
/** construct from rotation and translation */
Pose2(const Point2& t, double theta) :
t_(t), r_(theta) { }
Pose2(double theta, const Point2& t) :
t_(t), r_(theta) { }
Pose2(const Point2& t, const Rot2& r) :
t_(t), r_(r) { }
Pose2(const Rot2& r, const Point2& t) :
t_(t), r_(r) { }
/** print with optional string */
void print(const std::string& s = "") const;
/** assert equality up to a tolerance */
bool equals(const Pose2& pose, double tol = 1e-9) const;
/** get functions for x, y, theta */
double x() const { return t_.x();}
double y() const { return t_.y();}
double theta() const { return r_.theta();}
Point2 t() const { return t_; }
Rot2 r() const { return r_; }
/** return DOF, dimensionality of tangent space = 3 */
size_t dim() const { return 3; }
/* exponential map */
Pose2 exmap(const Vector& v) const;
/** return vectorized form (column-wise) */
Vector vector() const;
/** rotate pose by theta */
// Pose2 rotate(double theta) const;
/** inverse transformation */
Pose2 inverse() const {
return Pose2(r_, r_.unrotate(t_));
}
/** compose this transformation onto another (pre-multiply this*p1) */
Pose2 compose(const Pose2& p1) const {
return Pose2(p1.r_*r_, p1.r_*t_+p1.t_);
}
/** same as compose (pre-multiply this*p1) */
Pose2 operator*(const Pose2& p1) const {
return compose(p1);
}
/** Return point coordinates in pose coordinate frame, same as transform_to */
Point2 operator*(const Point2& point) const {
return r_.unrotate(point-t_);
}
// operators
Pose2 operator+(const Pose2& p2) const {
return Pose2(t_+p2.t_, r_*p2.r_);
}
Pose2 operator-(const Pose2& p2) const {
return Pose2(t_-p2.t_, r_.invcompose(p2.r_));
}
}; // Pose2
/** /**
* construct from (x,y,theta) * Return point coordinates in pose coordinate frame
* @param x x coordinate
* @param y y coordinate
* @param theta angle with positive X-axis
*/ */
Pose2(double x, double y, double theta) : Point2 transform_to(const Pose2& pose, const Point2& point);
t_(x,y), r_(theta) { } Matrix Dtransform_to1(const Pose2& pose, const Point2& point);
Matrix Dtransform_to2(const Pose2& pose, const Point2& point);
/** construct from rotation and translation */ /**
Pose2(const Point2& t, double theta) : * Return relative pose between p1 and p2, in p1 coordinate frame
t_(t), r_(theta) { } */
Pose2(double theta, const Point2& t) : Pose2 between(const Pose2& p1, const Pose2& p2);
t_(t), r_(theta) { } Matrix Dbetween1(const Pose2& p1, const Pose2& p2);
Pose2(const Point2& t, const Rot2& r) : Matrix Dbetween2(const Pose2& p1, const Pose2& p2);
t_(t), r_(r) { }
Pose2(const Rot2& r, const Point2& t) :
t_(t), r_(r) { }
/** print with optional string */
void print(const std::string& s = "") const;
/** assert equality up to a tolerance */
bool equals(const Pose2& pose, double tol = 1e-9) const;
/** get functions for x, y, theta */
double x() const { return t_.x();}
double y() const { return t_.y();}
double theta() const { return r_.theta();}
Point2 t() const { return t_; }
Rot2 r() const { return r_; }
/** return DOF, dimensionality of tangent space = 3 */
size_t dim() const { return 3; }
/* exponential map */
Pose2 exmap(const Vector& v) const;
/** return vectorized form (column-wise) */
Vector vector() const;
/** rotate pose by theta */
// Pose2 rotate(double theta) const;
/** inverse transformation */
Pose2 inverse() const {
return Pose2(r_, r_.unrotate(t_));
}
/** compose this transformation onto another (pre-multiply this*p1) */
Pose2 compose(const Pose2& p1) const {
return Pose2(p1.r_*r_, p1.r_*t_+p1.t_);
}
/** same as compose (pre-multiply this*p1) */
Pose2 operator*(const Pose2& p1) const {
return compose(p1);
}
/** Return point coordinates in pose coordinate frame, same as transform_to */
Point2 operator*(const Point2& point) const {
return r_.unrotate(point-t_);
}
// operators
Pose2 operator+(const Pose2& p2) const {
return Pose2(t_+p2.t_, r_*p2.r_);
}
Pose2 operator-(const Pose2& p2) const {
return Pose2(t_-p2.t_, r_.invcompose(p2.r_));
}
}; // Pose2
/**
* Return point coordinates in pose coordinate frame
*/
Point2 transform_to(const Pose2& pose, const Point2& point);
Matrix Dtransform_to1(const Pose2& pose, const Point2& point);
Matrix Dtransform_to2(const Pose2& pose, const Point2& point);
/**
* Return relative pose between p1 and p2, in p1 coordinate frame
*/
Pose2 between(const Pose2& p1, const Pose2& p2);
Matrix Dbetween1(const Pose2& p1, const Pose2& p2);
Matrix Dbetween2(const Pose2& p1, const Pose2& p2);
} // namespace gtsam } // namespace gtsam

174
cpp/Rot2.cpp
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@ -11,109 +11,109 @@ using namespace std;
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
void Rot2::print(const string& s) const { void Rot2::print(const string& s) const {
cout << s << ":" << angle() << endl; cout << s << ":" << angle() << endl;
} }
/* ************************************************************************* */ /* ************************************************************************* */
bool Rot2::equals(const Rot2& R, double tol) const { bool Rot2::equals(const Rot2& R, double tol) const {
return fabs(c_ - R.c_) <= tol && fabs(s_ - R.s_) <= tol; return fabs(c_ - R.c_) <= tol && fabs(s_ - R.s_) <= tol;
} }
/* ************************************************************************* */ /* ************************************************************************* */
Rot2 Rot2::exmap(const Vector& v) const { Rot2 Rot2::exmap(const Vector& v) const {
if (zero(v)) return (*this); if (zero(v)) return (*this);
return Rot2(v(0)) * (*this); // exponential map then compose return Rot2(v(0)) * (*this); // exponential map then compose
} }
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Rot2::matrix() const { Matrix Rot2::matrix() const {
return Matrix_(2, 2, c_, -s_, s_, c_); return Matrix_(2, 2, c_, -s_, s_, c_);
} }
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Rot2::transpose() const { Matrix Rot2::transpose() const {
return Matrix_(2, 2, c_, s_, -s_, c_); return Matrix_(2, 2, c_, s_, -s_, c_);
} }
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Rot2::negtranspose() const { Matrix Rot2::negtranspose() const {
return Matrix_(2, 2, -c_, -s_, s_, -c_); return Matrix_(2, 2, -c_, -s_, s_, -c_);
} }
/* ************************************************************************* */ /* ************************************************************************* */
Rot2 Rot2::inverse() const { return Rot2(c_, -s_);} Rot2 Rot2::inverse() const { return Rot2(c_, -s_);}
/* ************************************************************************* */ /* ************************************************************************* */
Rot2 Rot2::invcompose(const Rot2& R) const { Rot2 Rot2::invcompose(const Rot2& R) const {
return Rot2( return Rot2(
c_ * R.c_ + s_ * R.s_, c_ * R.c_ + s_ * R.s_,
-s_ * R.c_ + c_ * R.s_); -s_ * R.c_ + c_ * R.s_);
} }
/* ************************************************************************* */ /* ************************************************************************* */
Rot2 Rot2::operator*(const Rot2& R) const { Rot2 Rot2::operator*(const Rot2& R) const {
return Rot2( return Rot2(
c_ * R.c_ - s_ * R.s_, c_ * R.c_ - s_ * R.s_,
s_ * R.c_ + c_ * R.s_ s_ * R.c_ + c_ * R.s_
); );
} }
/* ************************************************************************* */ /* ************************************************************************* */
Point2 Rot2::operator*(const Point2& p) const { Point2 Rot2::operator*(const Point2& p) const {
return Point2( return Point2(
c_ * p.x() - s_ * p.y(), c_ * p.x() - s_ * p.y(),
s_ * p.x() + c_ * p.y() s_ * p.x() + c_ * p.y()
); );
} }
/* ************************************************************************* */ /* ************************************************************************* */
Point2 Rot2::unrotate(const Point2& p) const { Point2 Rot2::unrotate(const Point2& p) const {
return Point2( return Point2(
c_ * p.x() + s_ * p.y(), c_ * p.x() + s_ * p.y(),
-s_ * p.x() + c_ * p.y() -s_ * p.x() + c_ * p.y()
); );
} }
/* ************************************************************************* */ /* ************************************************************************* */
Rot2 exmap(const Rot2& R, const Vector& v) { Rot2 exmap(const Rot2& R, const Vector& v) {
return R.exmap(v); return R.exmap(v);
} }
/* ************************************************************************* */ /* ************************************************************************* */
Point2 rotate(const Rot2& R, const Point2& p) { Point2 rotate(const Rot2& R, const Point2& p) {
return R * p; return R * p;
} }
/* ************************************************************************* */ /* ************************************************************************* */
// see libraries/caml/geometry/math.ml // see libraries/caml/geometry/math.ml
Matrix Drotate1(const Rot2& R, const Point2& p) { Matrix Drotate1(const Rot2& R, const Point2& p) {
Point2 q = R*p; Point2 q = R*p;
return Matrix_(2, 1, -q.y(), q.x()); return Matrix_(2, 1, -q.y(), q.x());
} }
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Drotate2(const Rot2& R) { Matrix Drotate2(const Rot2& R) {
return R.matrix(); return R.matrix();
} }
/* ************************************************************************* */ /* ************************************************************************* */
Point2 unrotate(const Rot2& R, const Point2& p) { Point2 unrotate(const Rot2& R, const Point2& p) {
return R.unrotate(p); return R.unrotate(p);
} }
/* ************************************************************************* */ /* ************************************************************************* */
/** see libraries/caml/geometry/math.lyx, derivative of unrotate */ /** see libraries/caml/geometry/math.lyx, derivative of unrotate */
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Dunrotate1(const Rot2 & R, const Point2 & p) { Matrix Dunrotate1(const Rot2 & R, const Point2 & p) {
Point2 q = R.unrotate(p); Point2 q = R.unrotate(p);
return Matrix_(2, 1, q.y(), -q.x()); return Matrix_(2, 1, q.y(), -q.x());
} }
/* ************************************************************************* */ /* ************************************************************************* */
Matrix Dunrotate2(const Rot2 & R) { Matrix Dunrotate2(const Rot2 & R) {
return R.transpose(); return R.transpose();
} }
} // gtsam } // gtsam

158
cpp/Rot2.h
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@ -14,110 +14,110 @@
namespace gtsam { namespace gtsam {
/* Rotation matrix */ /* Rotation matrix */
class Rot2: Testable<Rot2> { class Rot2: Testable<Rot2> {
private: private:
/** we store cos(theta) and sin(theta) */ /** we store cos(theta) and sin(theta) */
double c_, s_; double c_, s_;
/** private constructor from cos/sin */ /** private constructor from cos/sin */
Rot2(double c, double s) : Rot2(double c, double s) :
c_(c), s_(s) { c_(c), s_(s) {
} }
public: public:
/** default constructor, zero rotation */ /** default constructor, zero rotation */
Rot2() : c_(1.0), s_(0.0) {} Rot2() : c_(1.0), s_(0.0) {}
/** constructor from angle == exponential map at identity */ /** constructor from angle == exponential map at identity */
Rot2(double theta) : c_(cos(theta)), s_(sin(theta)) {} Rot2(double theta) : c_(cos(theta)), s_(sin(theta)) {}
/** return angle */ /** return angle */
double theta() const { return atan2(s_,c_); } double theta() const { return atan2(s_,c_); }
double angle() const { return atan2(s_,c_); } double angle() const { return atan2(s_,c_); }
/** return cos */ /** return cos */
double c() const { return c_; } double c() const { return c_; }
/** return sin */ /** return sin */
double s() const { return s_; } double s() const { return s_; }
/** print */ /** print */
void print(const std::string& s = "theta") const; void print(const std::string& s = "theta") const;
/** equals with an tolerance */ /** equals with an tolerance */
bool equals(const Rot2& R, double tol = 1e-9) const; bool equals(const Rot2& R, double tol = 1e-9) const;
/** return DOF, dimensionality of tangent space */ /** return DOF, dimensionality of tangent space */
inline size_t dim() const { return 1;} inline size_t dim() const { return 1;}
/** Given 1-dim tangent vector, create new rotation */ /** Given 1-dim tangent vector, create new rotation */
Rot2 exmap(const Vector& d) const; Rot2 exmap(const Vector& d) const;
/** return vectorized form (column-wise)*/ /** return vectorized form (column-wise)*/
inline Vector vector() const { return Vector_(2,c_,s_);} inline Vector vector() const { return Vector_(2,c_,s_);}
/** return 2*2 rotation matrix */ /** return 2*2 rotation matrix */
Matrix matrix() const; Matrix matrix() const;
/** return 2*2 transpose (inverse) rotation matrix */ /** return 2*2 transpose (inverse) rotation matrix */
Matrix transpose() const; Matrix transpose() const;
/** return 2*2 negative transpose */ /** return 2*2 negative transpose */
Matrix negtranspose() const; Matrix negtranspose() const;
/** inverse transformation */ /** inverse transformation */
Rot2 inverse() const; Rot2 inverse() const;
/** compose with the inverse of this rotation */ /** compose with the inverse of this rotation */
Rot2 invcompose(const Rot2& R) const; Rot2 invcompose(const Rot2& R) const;
/** composition via sum and difference formulas */ /** composition via sum and difference formulas */
Rot2 operator*(const Rot2& R) const; Rot2 operator*(const Rot2& R) const;
/** rotate from rotated to world, syntactic sugar = R*p */ /** rotate from rotated to world, syntactic sugar = R*p */
Point2 operator*(const Point2& p) const; Point2 operator*(const Point2& p) const;
/** rotate from world to rotated = R'*p */ /** rotate from world to rotated = R'*p */
Point2 unrotate(const Point2& p) const; Point2 unrotate(const Point2& p) const;
/** friends */ /** friends */
friend Matrix Dunrotate1(const Rot2& R, const Point2& p); friend Matrix Dunrotate1(const Rot2& R, const Point2& p);
private: private:
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
template<class Archive> template<class Archive>
void serialize(Archive & ar, const unsigned int version) { void serialize(Archive & ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(c_); ar & BOOST_SERIALIZATION_NVP(c_);
ar & BOOST_SERIALIZATION_NVP(s_); ar & BOOST_SERIALIZATION_NVP(s_);
} }
}; };
/** /**
* Update Rotation with incremental rotation * Update Rotation with incremental rotation
* @param v a vector of incremental angle * @param v a vector of incremental angle
* @param R a 2D rotation * @param R a 2D rotation
* @return incremental rotation matrix * @return incremental rotation matrix
*/ */
Rot2 exmap(const Rot2& R, const Vector& v); Rot2 exmap(const Rot2& R, const Vector& v);
/** /**
* rotate point from rotated coordinate frame to * rotate point from rotated coordinate frame to
* world = R*p * world = R*p
*/ */
Point2 rotate(const Rot2& R, const Point2& p); Point2 rotate(const Rot2& R, const Point2& p);
Matrix Drotate1(const Rot2& R, const Point2& p); Matrix Drotate1(const Rot2& R, const Point2& p);
Matrix Drotate2(const Rot2& R); // does not depend on p ! Matrix Drotate2(const Rot2& R); // does not depend on p !
/** /**
* rotate point from world to rotated * rotate point from world to rotated
* frame = R'*p * frame = R'*p
*/ */
Point2 unrotate(const Rot2& R, const Point2& p); Point2 unrotate(const Rot2& R, const Point2& p);
Matrix Dunrotate1(const Rot2& R, const Point2& p); Matrix Dunrotate1(const Rot2& R, const Point2& p);
Matrix Dunrotate2(const Rot2& R); // does not depend on p ! Matrix Dunrotate2(const Rot2& R); // does not depend on p !
} // gtsam } // gtsam

98
cpp/testPose2.cpp
View File

@ -12,12 +12,18 @@
using namespace gtsam; using namespace gtsam;
/* ************************************************************************* */
//TEST(Pose2, print) {
// Pose2 pose(Point2(1.0,2.0), Rot2(3.0));
// pose.print("thepose");
//}
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Pose2, constructors) { TEST(Pose2, constructors) {
Point2 p; Point2 p;
Pose2 pose(p,0); Pose2 pose(p,0);
Pose2 origin; Pose2 origin;
assert_equal(pose,origin); assert_equal(pose,origin);
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -39,35 +45,35 @@ 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(1,2,M_PI_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
Point2 expected(2,2); Point2 expected(2,2);
Matrix expectedH1 = Matrix_(2,3, 0.0, -1.0, 2.0, 1.0, 0.0, -2.0); Matrix expectedH1 = Matrix_(2,3, 0.0, -1.0, 2.0, 1.0, 0.0, -2.0);
Matrix expectedH2 = Matrix_(2,2, 0.0, 1.0, -1.0, 0.0); Matrix expectedH2 = Matrix_(2,2, 0.0, 1.0, -1.0, 0.0);
// actual // actual
Point2 actual = transform_to(pose,point); Point2 actual = transform_to(pose,point);
Matrix actualH1 = Dtransform_to1(pose,point); Matrix actualH1 = Dtransform_to1(pose,point);
Matrix actualH2 = Dtransform_to2(pose,point); Matrix actualH2 = Dtransform_to2(pose,point);
CHECK(assert_equal(expected,actual)); CHECK(assert_equal(expected,actual));
CHECK(assert_equal(expectedH1,actualH1)); CHECK(assert_equal(expectedH1,actualH1));
CHECK(assert_equal(expectedH2,actualH2)); CHECK(assert_equal(expectedH2,actualH2));
Matrix numericalH1 = numericalDerivative21(transform_to, pose, point, 1e-5); Matrix numericalH1 = numericalDerivative21(transform_to, pose, point, 1e-5);
CHECK(assert_equal(numericalH1,actualH1)); CHECK(assert_equal(numericalH1,actualH1));
Matrix numericalH2 = numericalDerivative22(transform_to, pose, point, 1e-5); Matrix numericalH2 = numericalDerivative22(transform_to, pose, point, 1e-5);
CHECK(assert_equal(numericalH2,actualH2)); CHECK(assert_equal(numericalH2,actualH2));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -104,42 +110,42 @@ 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(1,2,M_PI_2); // robot at (1,2) looking towards y
Pose2 p2(-1,4,M_PI); // robot at (-1,4) loooking at negative x Pose2 p2(-1,4,M_PI); // robot at (-1,4) loooking at negative x
// expected // expected
Pose2 expected(2,2,M_PI_2); Pose2 expected(2,2,M_PI_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,
0.0,0.0,-1.0 0.0,0.0,-1.0
); );
Matrix expectedH2 = Matrix_(3,3, Matrix expectedH2 = Matrix_(3,3,
0.0,1.0,0.0, 0.0,1.0,0.0,
-1.0,0.0,0.0, -1.0,0.0,0.0,
0.0,0.0,1.0 0.0,0.0,1.0
); );
// actual // actual
Pose2 actual = between(p1,p2); Pose2 actual = between(p1,p2);
Matrix actualH1 = Dbetween1(p1,p2); Matrix actualH1 = Dbetween1(p1,p2);
Matrix actualH2 = Dbetween2(p1,p2); Matrix actualH2 = Dbetween2(p1,p2);
CHECK(assert_equal(expected,actual)); CHECK(assert_equal(expected,actual));
CHECK(assert_equal(expectedH1,actualH1)); CHECK(assert_equal(expectedH1,actualH1));
CHECK(assert_equal(expectedH2,actualH2)); CHECK(assert_equal(expectedH2,actualH2));
Matrix numericalH1 = numericalDerivative21(between, p1, p2, 1e-5); Matrix numericalH1 = numericalDerivative21(between, p1, p2, 1e-5);
CHECK(assert_equal(numericalH1,actualH1)); CHECK(assert_equal(numericalH1,actualH1));
Matrix numericalH2 = numericalDerivative22(between, p1, p2, 1e-5); Matrix numericalH2 = numericalDerivative22(between, p1, p2, 1e-5);
CHECK(assert_equal(numericalH2,actualH2)); CHECK(assert_equal(numericalH2,actualH2));
} }
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {
TestResult tr; TestResult tr;
return TestRegistry::runAllTests(tr); return TestRegistry::runAllTests(tr);
} }
/* ************************************************************************* */ /* ************************************************************************* */