82 lines
2.4 KiB
C++
82 lines
2.4 KiB
C++
/**
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* @file testNonlinearISAM
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* @author Alex Cunningham
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/nonlinear/NonlinearEquality.h>
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#include <gtsam/nonlinear/NonlinearISAM.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/Values.h>
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#include <gtsam/nonlinear/Symbol.h>
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#include <gtsam/linear/Sampler.h>
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#include <gtsam/geometry/Pose2.h>
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using namespace gtsam;
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typedef NonlinearISAM PlanarISAM;
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const double tol=1e-5;
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/* ************************************************************************* */
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TEST(testNonlinearISAM, markov_chain ) {
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int reorder_interval = 2;
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PlanarISAM isam(reorder_interval); // create an ISAM object
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SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector_(3, 3.0, 3.0, 0.5));
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Sampler sampler(model, 42u);
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// create initial graph
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Pose2 cur_pose; // start at origin
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NonlinearFactorGraph start_factors;
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start_factors.add(NonlinearEquality<Pose2>(0, cur_pose));
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Values init;
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Values expected;
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init.insert(0, cur_pose);
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expected.insert(0, cur_pose);
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isam.update(start_factors, init);
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// loop for a period of time to verify memory usage
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size_t nrPoses = 21;
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Pose2 z(1.0, 2.0, 0.1);
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for (size_t i=1; i<=nrPoses; ++i) {
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NonlinearFactorGraph new_factors;
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new_factors.add(BetweenFactor<Pose2>(i-1, i, z, model));
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Values new_init;
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// perform a check on changing orderings
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if (i == 5) {
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Ordering ordering = isam.getOrdering();
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// swap last two elements
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Key last = ordering.pop_back().first;
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Key secondLast = ordering.pop_back().first;
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ordering.push_back(last);
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ordering.push_back(secondLast);
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isam.setOrdering(ordering);
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Ordering expected; expected += (0), (1), (2), (4), (3);
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EXPECT(assert_equal(expected, isam.getOrdering()));
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}
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cur_pose = cur_pose.compose(z);
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new_init.insert(i, cur_pose.retract(sampler.sample()));
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expected.insert(i, cur_pose);
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isam.update(new_factors, new_init);
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}
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// verify values - all but the last one should be very close
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Values actual = isam.estimate();
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for (size_t i=0; i<nrPoses; ++i) {
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EXPECT(assert_equal(expected.at<Pose2>(i), actual.at<Pose2>(i), tol));
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}
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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