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retract works, local coordiantes still broken

release/4.3a0
Paul Drews 2015-01-25 01:28:16 -05:00
parent a87a3dd987
commit c6b3535dda
1 changed files with 16 additions and 3 deletions
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19
gtsam_unstable/geometry/tests/testSimilarity3.cpp
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@ -96,7 +96,7 @@ public:
const Vector3 t = t_.vector(); const Vector3 t = t_.vector();
Matrix3 A = s_ * skewSymmetric(t) * R; Matrix3 A = s_ * skewSymmetric(t) * R;
Matrix7 adj; Matrix7 adj;
adj << s_*R, A, -s_*t, Z_3x3, R, Eigen::Matrix<double, 3, 1>::Zero(), Z_3x3, Z_3x3, 1; adj << s_*R, A, -s_*t, Z_3x3, R, Eigen::Matrix<double, 3, 1>::Zero(), Eigen::Matrix<double, 1, 6>::Zero(), 1;
return adj; return adj;
} }
@ -161,7 +161,7 @@ public:
return Similarity3( // return Similarity3( //
r.retract(v.head<3>()), // retract rotation using v[0,1,2] r.retract(v.head<3>()), // retract rotation using v[0,1,2]
Point3(v.segment<3>(3)), // Retract the translation Point3(v.segment<3>(3)), // Retract the translation
v[6]); //finally, update scale using v[6] 1.0 + v[6]); //finally, update scale using v[6]
} }
/// 7-dimensional vector v in tangent space that makes other = this->retract(v) /// 7-dimensional vector v in tangent space that makes other = this->retract(v)
@ -171,7 +171,7 @@ public:
v.head<3>() = r.localCoordinates(other.R_); v.head<3>() = r.localCoordinates(other.R_);
v.segment<3>(3) = other.t_.vector(); v.segment<3>(3) = other.t_.vector();
//v.segment<3>(3) = translation().localCoordinates(other.translation()); //v.segment<3>(3) = translation().localCoordinates(other.translation());
v[6] = other.s_; v[6] = other.s_ - 1.0;
return v; return v;
} }
}; };
@ -237,6 +237,19 @@ TEST(Similarity3, Getters2) {
EXPECT_DOUBLES_EQUAL(7.0, test.scale(), 1e-9); EXPECT_DOUBLES_EQUAL(7.0, test.scale(), 1e-9);
} }
TEST(Similarity3, AdjointMap) {
Similarity3 test(Rot3::ypr(1,2,3).inverse(), Point3(4,5,6), 7);
Matrix7 result;
result << -1.5739, -2.4512, -6.3651, -50.7671, -11.2503, 16.8859, -28.0000,
6.3167, -2.9884, -0.4111, 0.8502, 8.6373, -49.7260, -35.0000,
-2.5734, -5.8362, 2.8839, 33.1363, 0.3024, 30.1811, -42.0000,
0, 0, 0, -0.2248, -0.3502, -0.9093, 0,
0, 0, 0, 0.9024, -0.4269, -0.0587, 0,
0, 0, 0, -0.3676, -0.8337, 0.4120, 0,
0, 0, 0, 0, 0, 0, 1.0000;
EXPECT(assert_equal(result, test.AdjointMap(), 1e-3));
}
//****************************************************************************** //******************************************************************************
TEST(Similarity3, Manifold) { TEST(Similarity3, Manifold) {
EXPECT_LONGS_EQUAL(7, Similarity3::Dim()); EXPECT_LONGS_EQUAL(7, Similarity3::Dim());