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Event header and test file

release/4.3a0
dellaert 2014-12-10 19:14:18 +01:00
parent 5d6e0bc753
commit d17caa5487
4 changed files with 280 additions and 191 deletions
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106
.cproject
View File

@ -542,6 +542,14 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testEvent.run" path="build/gtsam_unstable/geometry/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j4</buildArguments>
<buildTarget>testEvent.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="check" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -592,6 +600,7 @@
</target> </target>
<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree.run</buildTarget> <buildTarget>tests/testBayesTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -599,6 +608,7 @@
</target> </target>
<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testBinaryBayesNet.run</buildTarget> <buildTarget>testBinaryBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -646,6 +656,7 @@
</target> </target>
<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNet.run</buildTarget> <buildTarget>testSymbolicBayesNet.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -653,6 +664,7 @@
</target> </target>
<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testSymbolicFactor.run</buildTarget> <buildTarget>tests/testSymbolicFactor.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -660,6 +672,7 @@
</target> </target>
<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicFactorGraph.run</buildTarget> <buildTarget>testSymbolicFactorGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -675,6 +688,7 @@
</target> </target>
<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testBayesTree</buildTarget> <buildTarget>tests/testBayesTree</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1138,6 +1152,7 @@
</target> </target>
<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testErrors.run</buildTarget> <buildTarget>testErrors.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1367,6 +1382,46 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testBTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSF.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFMap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testFixedVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j2</buildArguments> <buildArguments>-j2</buildArguments>
@ -1449,7 +1504,6 @@
</target> </target>
<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2DOriented.run</buildTarget> <buildTarget>testSimulated2DOriented.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1489,7 +1543,6 @@
</target> </target>
<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated2D.run</buildTarget> <buildTarget>testSimulated2D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1497,7 +1550,6 @@
</target> </target>
<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSimulated3D.run</buildTarget> <buildTarget>testSimulated3D.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1511,46 +1563,6 @@
<useDefaultCommand>true</useDefaultCommand> <useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders> <runAllBuilders>true</runAllBuilders>
</target> </target>
<target name="testBTree.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testBTree.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSF.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSF.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFMap.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFMap.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testDSFVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testDSFVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testFixedVector.run" path="build/gtsam_unstable/base/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testFixedVector.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testEliminationTree.run" path="build/gtsam/inference/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments> <buildArguments>-j5</buildArguments>
@ -1808,6 +1820,7 @@
</target> </target>
<target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate DEB Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G DEB</buildTarget> <buildTarget>-G DEB</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1815,6 +1828,7 @@
</target> </target>
<target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate RPM Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G RPM</buildTarget> <buildTarget>-G RPM</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1822,6 +1836,7 @@
</target> </target>
<target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>-G TGZ</buildTarget> <buildTarget>-G TGZ</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -1829,6 +1844,7 @@
</target> </target>
<target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="Generate TGZ Source Package" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>cpack</buildCommand> <buildCommand>cpack</buildCommand>
<buildArguments/>
<buildTarget>--config CPackSourceConfig.cmake</buildTarget> <buildTarget>--config CPackSourceConfig.cmake</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2683,6 +2699,7 @@
</target> </target>
<target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testGraph.run</buildTarget> <buildTarget>testGraph.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2690,6 +2707,7 @@
</target> </target>
<target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testJunctionTree.run</buildTarget> <buildTarget>testJunctionTree.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -2697,6 +2715,7 @@
</target> </target>
<target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="testSymbolicBayesNetB.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>testSymbolicBayesNetB.run</buildTarget> <buildTarget>testSymbolicBayesNetB.run</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>
@ -3248,7 +3267,6 @@
</target> </target>
<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder"> <target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand> <buildCommand>make</buildCommand>
<buildArguments/>
<buildTarget>tests/testGaussianISAM2</buildTarget> <buildTarget>tests/testGaussianISAM2</buildTarget>
<stopOnError>true</stopOnError> <stopOnError>true</stopOnError>
<useDefaultCommand>false</useDefaultCommand> <useDefaultCommand>false</useDefaultCommand>

115
gtsam_unstable/geometry/Event.h Normal file
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@ -0,0 +1,115 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file Event
* @brief Space-time event
* @author Frank Dellaert
* @author Jay Chakravarty
* @date December 2014
*/
#pragma once
#include <gtsam/geometry/Point3.h>
#include <cmath>
namespace gtsam {
/// A space-time event
class Event {
double time_; ///< Time event was generated
Point3 location_; ///< Location at time event was generated
public:
/// Speed of sound
static const double Speed;
/// Default Constructor
Event() :
time_(0) {
}
/// Constructor from time and location
Event(double t, const Point3& p) :
time_(t), location_(p) {
}
/// Constructor with doubles
Event(double t, double x, double y, double z) :
time_(t), location_(x, y, z) {
}
/** print with optional string */
void print(const std::string& s = "") const {
std::cout << s << "time = " << time_;
location_.print("; location");
}
/** equals with an tolerance */
bool equals(const Event& other, double tol = 1e-9) const {
return std::abs(time_ - other.time_) < tol
&& location_.equals(other.location_, tol);
}
/// Manifold stuff:
size_t dim() const {
return 4;
}
static size_t Dim() {
return 4;
}
/// Updates a with tangent space delta
inline Event retract(const Vector4& v) const {
return Event(time_ + v[0], location_.retract(v.tail(3)));
}
/// Returns inverse retraction
inline Vector4 localCoordinates(const Event& q) const {
return Vector4::Zero(); // TODO
}
/// Time of arrival to given microphone
double toa(const Point3& microphone, //
OptionalJacobian<1, 4> H1 = boost::none, //
OptionalJacobian<1, 3> H2 = boost::none) const {
Matrix13 D1, D2;
double distance = location_.distance(microphone, D1, D2);
if (H1)
// derivative of toa with respect to event
*H1 << 1.0, D1 / Speed;
if (H2)
// derivative of toa with respect to microphone location
*H2 << D2 / Speed;
return time_ + distance / Speed;
}
};
const double Event::Speed = 330;
// Define GTSAM traits
namespace traits {
template<>
struct GTSAM_EXPORT dimension<Event> : public boost::integral_constant<int, 4> {
};
template<>
struct GTSAM_EXPORT is_manifold<Event> : public boost::true_type {
};
}
} //\ namespace gtsam

100
gtsam_unstable/geometry/tests/testEvent.cpp Normal file
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@ -0,0 +1,100 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file testEvent.cpp
* @brief Unit tests for space time "Event"
* @author Frank Dellaert
* @author Jay Chakravarty
* @date December 2014
*/
#include <gtsam_unstable/geometry/Event.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/nonlinear/Expression.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/bind.hpp>
using namespace std;
using namespace gtsam;
// Create a noise model for the TOA error
static const double ms = 1e-3;
static const double cm = 1e-2;
typedef Eigen::Matrix<double, 1, 1> Vector1;
static SharedNoiseModel model(noiseModel::Isotropic::Sigma(1,0.5*ms));
static const double timeOfEvent = 25;
static const Event exampleEvent(timeOfEvent, 1, 0, 0);
static const Point3 microphoneAt0;
//*****************************************************************************
TEST( Event, Constructor ) {
const double t = 0;
Event actual(t, 201.5 * cm, 201.5 * cm, (212 - 45) * cm);
}
//*****************************************************************************
TEST( Event, Toa1 ) {
Event event(0, 1, 0, 0);
double expected = 1 / Event::Speed;
EXPECT_DOUBLES_EQUAL(expected, event.toa(microphoneAt0), 1e-9);
}
//*****************************************************************************
TEST( Event, Toa2 ) {
double expectedTOA = timeOfEvent + 1 / Event::Speed;
EXPECT_DOUBLES_EQUAL(expectedTOA, exampleEvent.toa(microphoneAt0), 1e-9);
}
//*************************************************************************
TEST (Event, Derivatives) {
Matrix14 actualH1;
Matrix13 actualH2;
exampleEvent.toa(microphoneAt0, actualH1, actualH2);
Matrix expectedH1 = numericalDerivative11<double, Event>(
boost::bind(&Event::toa, _1, microphoneAt0, boost::none, boost::none),
exampleEvent);
EXPECT(assert_equal(expectedH1, actualH1, 1e-8));
Matrix expectedH2 = numericalDerivative11<double, Point3>(
boost::bind(&Event::toa, exampleEvent, _1, boost::none, boost::none),
microphoneAt0);
EXPECT(assert_equal(expectedH2, actualH2, 1e-8));
}
//*****************************************************************************
TEST( Event, Expression ) {
Key key = 12;
Expression<Event> event_(key);
Expression<Point3> knownMicrophone_(microphoneAt0); // constant expression
Expression<double> expression(&Event::toa, event_, knownMicrophone_);
Values values;
values.insert(key, exampleEvent);
double expectedTOA = timeOfEvent + 1 / Event::Speed;
EXPECT_DOUBLES_EQUAL(expectedTOA, expression.value(values), 1e-9);
}
//*****************************************************************************
TEST(Event, Retract) {
Event event, expected(1, 2, 3, 4);
Vector4 v;
v << 1, 2, 3, 4;
EXPECT(assert_equal(expected, event.retract(v)));
}
//*****************************************************************************
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
//*****************************************************************************

150
gtsam_unstable/slam/tests/testTOAFactor.cpp
View File

@ -17,102 +17,12 @@
* @date December 2014 * @date December 2014
*/ */
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam_unstable/nonlinear/ExpressionFactor.h> #include <gtsam_unstable/nonlinear/ExpressionFactor.h>
#include <gtsam/geometry/Point3.h> #include <gtsam_unstable/geometry/Event.h>
#include <cmath>
namespace gtsam { namespace gtsam {
/// A space-time event /// A "Time of Arrival" factor - so little code seems hardly worth it :-)
class Event {
double time_; ///< Time event was generated
Point3 location_; ///< Location at time event was generated
public:
/// Speed of sound
static const double Speed;
/// Default Constructor
Event() :
time_(0) {
}
/// Constructor from time and location
Event(double t, const Point3& p) :
time_(t), location_(p) {
}
/// Constructor with doubles
Event(double t, double x, double y, double z) :
time_(t), location_(x, y, z) {
}
/** print with optional string */
void print(const std::string& s = "") const {
std::cout << s << "time = " << time_;
location_.print("; location");
}
/** equals with an tolerance */
bool equals(const Event& other, double tol = 1e-9) const {
return std::abs(time_ - other.time_) < tol
&& location_.equals(other.location_, tol);
}
/// Manifold stuff:
size_t dim() const {
return 4;
}
static size_t Dim() {
return 4;
}
/// Updates a with tangent space delta
inline Event retract(const Vector4& v) const {
return Event(time_ + v[0], location_.retract(v.tail(3)));
}
/// Returns inverse retraction
inline Vector4 localCoordinates(const Event& q) const {
return Vector4::Zero(); // TODO
}
/// Time of arrival to given microphone
double toa(const Point3& microphone, //
OptionalJacobian<1, 4> H1 = boost::none, //
OptionalJacobian<1, 3> H2 = boost::none) const {
Matrix13 D1, D2;
double distance = location_.distance(microphone, D1, D2);
if (H1)
// derivative of toa with respect to event
*H1 << 1.0, D1 / Speed;
if (H2)
// derivative of toa with respect to microphone location
*H2 << D2 / Speed;
return time_ + distance / Speed;
}
};
const double Event::Speed = 330;
// Define GTSAM traits
namespace traits {
template<>
struct GTSAM_EXPORT dimension<Event> : public boost::integral_constant<int, 4> {
};
template<>
struct GTSAM_EXPORT is_manifold<Event> : public boost::true_type {
};
}
/// A "Time of Arrival" factor
class TOAFactor: public ExpressionFactor<double> { class TOAFactor: public ExpressionFactor<double> {
typedef Expression<double> double_; typedef Expression<double> double_;
@ -137,6 +47,7 @@ public:
} //\ namespace gtsam } //\ namespace gtsam
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
@ -155,61 +66,6 @@ static const double timeOfEvent = 25;
static const Event exampleEvent(timeOfEvent, 1, 0, 0); static const Event exampleEvent(timeOfEvent, 1, 0, 0);
static const Point3 microphoneAt0; static const Point3 microphoneAt0;
//*****************************************************************************
TEST( Event, Constructor ) {
const double t = 0;
Event actual(t, 201.5 * cm, 201.5 * cm, (212 - 45) * cm);
}
//*****************************************************************************
TEST( Event, Toa1 ) {
Event event(0, 1, 0, 0);
double expected = 1 / Event::Speed;
EXPECT_DOUBLES_EQUAL(expected, event.toa(microphoneAt0), 1e-9);
}
//*****************************************************************************
TEST( Event, Toa2 ) {
double expectedTOA = timeOfEvent + 1 / Event::Speed;
EXPECT_DOUBLES_EQUAL(expectedTOA, exampleEvent.toa(microphoneAt0), 1e-9);
}
//*************************************************************************
TEST (Event, Derivatives) {
Matrix14 actualH1;
Matrix13 actualH2;
exampleEvent.toa(microphoneAt0, actualH1, actualH2);
Matrix expectedH1 = numericalDerivative11<double, Event>(
boost::bind(&Event::toa, _1, microphoneAt0, boost::none, boost::none),
exampleEvent);
EXPECT(assert_equal(expectedH1, actualH1, 1e-8));
Matrix expectedH2 = numericalDerivative11<double, Point3>(
boost::bind(&Event::toa, exampleEvent, _1, boost::none, boost::none),
microphoneAt0);
EXPECT(assert_equal(expectedH2, actualH2, 1e-8));
}
//*****************************************************************************
TEST( Event, Expression ) {
Key key = 12;
Expression<Event> event_(key);
Expression<Point3> knownMicrophone_(microphoneAt0); // constant expression
Expression<double> expression(&Event::toa, event_, knownMicrophone_);
Values values;
values.insert(key, exampleEvent);
double expectedTOA = timeOfEvent + 1 / Event::Speed;
EXPECT_DOUBLES_EQUAL(expectedTOA, expression.value(values), 1e-9);
}
//*****************************************************************************
TEST(Event, Retract) {
Event event, expected(1, 2, 3, 4);
Vector4 v;
v << 1, 2, 3, 4;
EXPECT(assert_equal(expected, event.retract(v)));
}
//***************************************************************************** //*****************************************************************************
TEST( TOAFactor, Construct ) { TEST( TOAFactor, Construct ) {
Key key = 12; Key key = 12;