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TOAFactor compiles and can be put into a factor graph

release/4.3a0
dellaert 2014-12-10 15:43:31 +01:00
parent ba1a2685bc
commit d54c70202a
1 changed files with 45 additions and 36 deletions
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81
gtsam_unstable/slam/tests/testTOAFactor.cpp
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@ -58,14 +58,6 @@ const double Event::Speed = 330;
// Define GTSAM traits
namespace traits {
//template<>
//struct GTSAM_EXPORT is_group<Point2> : public boost::true_type{
//};
//
//template<>
//struct GTSAM_EXPORT is_manifold<Point2> : public boost::true_type{
//};
template<>
struct GTSAM_EXPORT dimension<Event> : public boost::integral_constant<int, 4> {
};
@ -140,37 +132,54 @@ TEST( TOA, Expression ) {
Point3 microphone;
Expression<Point3> knownMicrophone_(microphone); // constant expression
Expression<double> expression(&Event::toa, event_, knownMicrophone_);
// double timeOfEvent = 25;
// Event event12(timeOfEvent, 1, 0, 0);
// Values values;
// values.insert(key,event12);
// double expectedTOA = timeOfEvent + 1 / Event::Speed;
// EXPECT_DOUBLES_EQUAL(expectedTOA, expression.value(values), 1e-9);
}
//*****************************************************************************
//TEST( TOAFactor, WholeEnchilada ) {
//
// // Create microphones
// vector<Point3> microphones;
// microphones.push_back(Point3(0, 0, 0));
// microphones.push_back(Point3(403 * cm, 0, 0));
// microphones.push_back(Point3(403 * cm, 403 * cm, 0));
// microphones.push_back(Point3(0, 403 * cm, 0));
// EXPECT_LONGS_EQUAL(4, microphones.size());
//
// // Create a ground truth point
// const double timeOfEvent = 0;
// Event event(timeOfEvent, 201.5 * cm, 201.5 * cm, (212 - 45) * cm);
//
// // Simulate measurements
// vector<double> measurements(4);
// for (size_t i = 0; i < 4; i++)
// measurements[i] = event.toa(microphones[i]);
//
// // Now, estimate using non-linear optimization
// NonlinearFactorGraph graph;
// Key key = 12;
// Expression<Event> event_(key);
// for (size_t i = 0; i < 4; i++) {
// Expression<Point3> knownMicrophone_(microphones[i]); // constant expression
// graph.add(TOAFactor(event_, knownMicrophone_, measurements[i], model));
// }
//}
TEST( TOAFactor, Constract ) {
Key key = 12;
Expression<Event> event_(key);
Point3 microphone;
Expression<Point3> knownMicrophone_(microphone); // constant expression
double measurement = 7;
TOAFactor factor(event_, knownMicrophone_, measurement, model);
}
//*****************************************************************************
TEST( TOAFactor, WholeEnchilada ) {
// Create microphones
vector<Point3> microphones;
microphones.push_back(Point3(0, 0, 0));
microphones.push_back(Point3(403 * cm, 0, 0));
microphones.push_back(Point3(403 * cm, 403 * cm, 0));
microphones.push_back(Point3(0, 403 * cm, 0));
EXPECT_LONGS_EQUAL(4, microphones.size());
// Create a ground truth point
const double timeOfEvent = 0;
Event event(timeOfEvent, 201.5 * cm, 201.5 * cm, (212 - 45) * cm);
// Simulate measurements
vector<double> measurements(4);
for (size_t i = 0; i < 4; i++)
measurements[i] = event.toa(microphones[i]);
// Now, estimate using non-linear optimization
NonlinearFactorGraph graph;
Key key = 12;
Expression<Event> event_(key);
for (size_t i = 0; i < 4; i++) {
Expression<Point3> knownMicrophone_(microphones[i]); // constant expression
graph.add(TOAFactor(event_, knownMicrophone_, measurements[i], model));
}
}
//*****************************************************************************
int main() {