50 lines
1.5 KiB
C++
50 lines
1.5 KiB
C++
/**
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* @file testPose2Config.cpp
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* @authors Frank Dellaert
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**/
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#include <iostream>
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#include <CppUnitLite/TestHarness.h>
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#include "Pose2Config.h"
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using namespace std;
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( Pose2Config, pose2Circle )
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{
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// expected is 4 poses tangent to circle with radius 1m
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Pose2Config expected;
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expected.insert("p0", Pose2( 1, 0, M_PI_2));
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expected.insert("p1", Pose2( 0, 1, - M_PI ));
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expected.insert("p2", Pose2(-1, 0, - M_PI_2));
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expected.insert("p3", Pose2( 0, -1, 0 ));
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Pose2Config actual = pose2Circle(4,1.0,'p');
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CHECK(assert_equal(expected,actual));
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}
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/* ************************************************************************* */
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TEST( Pose2Config, expmap )
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{
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// expected is circle shifted to right
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Pose2Config expected;
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expected.insert("p0", Pose2( 1.1, 0, M_PI_2));
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expected.insert("p1", Pose2( 0.1, 1, - M_PI ));
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expected.insert("p2", Pose2(-0.9, 0, - M_PI_2));
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expected.insert("p3", Pose2( 0.1, -1, 0 ));
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// Note expmap coordinates are in local coordinates, so shifting to right requires thought !!!
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Vector delta = Vector_(12, 0.0,-0.1,0.0, -0.1,0.0,0.0, 0.0,0.1,0.0, 0.1,0.0,0.0);
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Pose2Config actual = expmap(pose2Circle(4,1.0,'p'),delta);
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CHECK(assert_equal(expected,actual));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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