130 lines
3.7 KiB
C++
130 lines
3.7 KiB
C++
/*
|
|
* testLieConfig.cpp
|
|
*
|
|
* Created on: Jan 5, 2010
|
|
* Author: richard
|
|
*/
|
|
|
|
#include <CppUnitLite/TestHarness.h>
|
|
#include <stdexcept>
|
|
|
|
#define GTSAM_MAGIC_KEY
|
|
|
|
#include <Pose2.h>
|
|
|
|
#include "LieConfig-inl.h"
|
|
#include "Vector.h"
|
|
|
|
using namespace gtsam;
|
|
using namespace std;
|
|
|
|
/* ************************************************************************* */
|
|
TEST( LieConfig, equals1 )
|
|
{
|
|
LieConfig<string,Vector> expected;
|
|
Vector v = Vector_(3, 5.0, 6.0, 7.0);
|
|
expected.insert("a",v);
|
|
LieConfig<string,Vector> actual;
|
|
actual.insert("a",v);
|
|
CHECK(assert_equal(expected,actual));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( LieConfig, equals2 )
|
|
{
|
|
LieConfig<string,Vector> cfg1, cfg2;
|
|
Vector v1 = Vector_(3, 5.0, 6.0, 7.0);
|
|
Vector v2 = Vector_(3, 5.0, 6.0, 8.0);
|
|
cfg1.insert("x", v1);
|
|
cfg2.insert("x", v2);
|
|
CHECK(!cfg1.equals(cfg2));
|
|
CHECK(!cfg2.equals(cfg1));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( LieConfig, equals_nan )
|
|
{
|
|
LieConfig<string,Vector> cfg1, cfg2;
|
|
Vector v1 = Vector_(3, 5.0, 6.0, 7.0);
|
|
Vector v2 = Vector_(3, 0.0/0.0, 0.0/0.0, 0.0/0.0);
|
|
cfg1.insert("x", v1);
|
|
cfg2.insert("x", v2);
|
|
CHECK(!cfg1.equals(cfg2));
|
|
CHECK(!cfg2.equals(cfg1));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(LieConfig, expmap_a)
|
|
{
|
|
LieConfig<string,Vector> config0;
|
|
config0.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
|
|
config0.insert("v2", Vector_(3, 5.0, 6.0, 7.0));
|
|
|
|
VectorConfig increment;
|
|
increment.insert("v1", Vector_(3, 1.0, 1.1, 1.2));
|
|
increment.insert("v2", Vector_(3, 1.3, 1.4, 1.5));
|
|
|
|
LieConfig<string,Vector> expected;
|
|
expected.insert("v1", Vector_(3, 2.0, 3.1, 4.2));
|
|
expected.insert("v2", Vector_(3, 6.3, 7.4, 8.5));
|
|
|
|
CHECK(assert_equal(expected, expmap(config0, increment)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(LieConfig, expmap_b)
|
|
{
|
|
LieConfig<string,Vector> config0;
|
|
config0.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
|
|
config0.insert("v2", Vector_(3, 5.0, 6.0, 7.0));
|
|
|
|
VectorConfig increment;
|
|
increment.insert("v2", Vector_(3, 1.3, 1.4, 1.5));
|
|
|
|
LieConfig<string,Vector> expected;
|
|
expected.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
|
|
expected.insert("v2", Vector_(3, 6.3, 7.4, 8.5));
|
|
|
|
CHECK(assert_equal(expected, expmap(config0, increment)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(LieConfig, expmap_c)
|
|
{
|
|
LieConfig<string,Vector> config0;
|
|
config0.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
|
|
config0.insert("v2", Vector_(3, 5.0, 6.0, 7.0));
|
|
|
|
Vector increment = Vector_(6,
|
|
1.0, 1.1, 1.2,
|
|
1.3, 1.4, 1.5);
|
|
|
|
LieConfig<string,Vector> expected;
|
|
expected.insert("v1", Vector_(3, 2.0, 3.1, 4.2));
|
|
expected.insert("v2", Vector_(3, 6.3, 7.4, 8.5));
|
|
|
|
CHECK(assert_equal(expected, expmap(config0, increment)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(LieConfig, expmap_d)
|
|
{
|
|
LieConfig<string,Vector> config0;
|
|
config0.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
|
|
config0.insert("v2", Vector_(3, 5.0, 6.0, 7.0));
|
|
//config0.print("config0");
|
|
CHECK(equal(config0, config0));
|
|
CHECK(config0.equals(config0));
|
|
|
|
LieConfig<string,Pose2> poseconfig;
|
|
poseconfig.insert("p1", Pose2(1,2,3));
|
|
poseconfig.insert("p2", Pose2(0.3, 0.4, 0.5));
|
|
//poseconfig.print("poseconfig");
|
|
CHECK(equal(config0, config0));
|
|
CHECK(config0.equals(config0));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
|
/* ************************************************************************* */
|