82 lines
2.8 KiB
C++
82 lines
2.8 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testPose3Values.cpp
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* @authors Frank Dellaert
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**/
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#include <iostream>
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/slam/pose3SLAM.h>
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using namespace std;
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using namespace gtsam;
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// The world coordinate system has z pointing up, y north, x east
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// The vehicle has X forward, Y right, Z down
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Rot3 R1(Point3( 0, 1, 0), Point3( 1, 0, 0), Point3(0, 0, -1));
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Rot3 R2(Point3(-1, 0, 0), Point3( 0, 1, 0), Point3(0, 0, -1));
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Rot3 R3(Point3( 0,-1, 0), Point3(-1, 0, 0), Point3(0, 0, -1));
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Rot3 R4(Point3( 1, 0, 0), Point3( 0,-1, 0), Point3(0, 0, -1));
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/* ************************************************************************* */
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TEST( Pose3Values, pose3Circle )
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{
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// expected is 4 poses tangent to circle with radius 1m
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Pose3Values expected;
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expected.insert(0, Pose3(R1, Point3( 1, 0, 0)));
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expected.insert(1, Pose3(R2, Point3( 0, 1, 0)));
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expected.insert(2, Pose3(R3, Point3(-1, 0, 0)));
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expected.insert(3, Pose3(R4, Point3( 0,-1, 0)));
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Pose3Values actual = pose3SLAM::circle(4,1.0);
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CHECK(assert_equal(expected,actual));
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}
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/* ************************************************************************* */
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TEST( Pose3Values, expmap )
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{
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Pose3Values expected;
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#ifdef CORRECT_POSE3_EXMAP
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expected.insert(0, Pose3(R1, Point3( 1.0, 0.1, 0)));
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expected.insert(1, Pose3(R2, Point3(-0.1, 1.0, 0)));
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expected.insert(2, Pose3(R3, Point3(-1.0,-0.1, 0)));
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expected.insert(3, Pose3(R4, Point3( 0.1,-1.0, 0)));
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#else
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// expected is circle shifted to East
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expected.insert(0, Pose3(R1, Point3( 1.1, 0, 0)));
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expected.insert(1, Pose3(R2, Point3( 0.1, 1, 0)));
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expected.insert(2, Pose3(R3, Point3(-0.9, 0, 0)));
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expected.insert(3, Pose3(R4, Point3( 0.1,-1, 0)));
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#endif
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// Note expmap coordinates are in global coordinates with non-compose expmap
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// so shifting to East requires little thought, different from with Pose2 !!!
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Ordering ordering(*expected.orderingArbitrary());
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VectorValues delta(expected.dims(ordering), Vector_(24,
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0.0,0.0,0.0, 0.1, 0.0, 0.0,
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0.0,0.0,0.0, 0.1, 0.0, 0.0,
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0.0,0.0,0.0, 0.1, 0.0, 0.0,
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0.0,0.0,0.0, 0.1, 0.0, 0.0));
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Pose3Values actual = pose3SLAM::circle(4,1.0).expmap(delta, ordering);
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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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