666 lines
23 KiB
C++
666 lines
23 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 testPose3.cpp
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* @brief Unit tests for Pose3 class
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*/
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#include <cmath>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/base/lieProxies.h>
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#include <gtsam/geometry/Pose3.h>
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using namespace std;
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using namespace gtsam;
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GTSAM_CONCEPT_TESTABLE_INST(Pose3)
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GTSAM_CONCEPT_LIE_INST(Pose3)
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static Point3 P(0.2,0.7,-2);
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static Rot3 R = Rot3::rodriguez(0.3,0,0);
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static Pose3 T(R,Point3(3.5,-8.2,4.2));
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static Pose3 T2(Rot3::rodriguez(0.3,0.2,0.1),Point3(3.5,-8.2,4.2));
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static Pose3 T3(Rot3::rodriguez(-90, 0, 0), Point3(1, 2, 3));
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const double tol=1e-5;
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/* ************************************************************************* */
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TEST( Pose3, equals)
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{
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Pose3 pose2 = T3;
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EXPECT(T3.equals(pose2));
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Pose3 origin;
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EXPECT(!T3.equals(origin));
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}
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/* ************************************************************************* */
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TEST( Pose3, expmap_a)
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{
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Pose3 id;
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Vector v = zero(6);
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v(0) = 0.3;
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EXPECT(assert_equal(id.retract(v), Pose3(R, Point3())));
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#ifdef CORRECT_POSE3_EXMAP
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v(3)=0.2;v(4)=0.394742;v(5)=-2.08998;
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#else
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v(3)=0.2;v(4)=0.7;v(5)=-2;
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#endif
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EXPECT(assert_equal(Pose3(R, P),id.retract(v),1e-5));
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}
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/* ************************************************************************* */
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TEST( Pose3, expmap_a_full)
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{
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Pose3 id;
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Vector v = zero(6);
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v(0) = 0.3;
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EXPECT(assert_equal(expmap_default<Pose3>(id, v), Pose3(R, Point3())));
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v(3)=0.2;v(4)=0.394742;v(5)=-2.08998;
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EXPECT(assert_equal(Pose3(R, P),expmap_default<Pose3>(id, v),1e-5));
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}
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/* ************************************************************************* */
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TEST( Pose3, expmap_a_full2)
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{
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Pose3 id;
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Vector v = zero(6);
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v(0) = 0.3;
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EXPECT(assert_equal(expmap_default<Pose3>(id, v), Pose3(R, Point3())));
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v(3)=0.2;v(4)=0.394742;v(5)=-2.08998;
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EXPECT(assert_equal(Pose3(R, P),expmap_default<Pose3>(id, v),1e-5));
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}
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/* ************************************************************************* */
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TEST(Pose3, expmap_b)
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{
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Pose3 p1(Rot3(), Point3(100, 0, 0));
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Pose3 p2 = p1.retract(Vector_(6,0.0, 0.0, 0.1, 0.0, 0.0, 0.0));
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Pose3 expected(Rot3::rodriguez(0.0, 0.0, 0.1), Point3(100.0, 0.0, 0.0));
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EXPECT(assert_equal(expected, p2));
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}
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/* ************************************************************************* */
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// test case for screw motion in the plane
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namespace screw {
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double a=0.3, c=cos(a), s=sin(a), w=0.3;
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Vector xi = Vector_(6, 0.0, 0.0, w, w, 0.0, 1.0);
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Rot3 expectedR(c, -s, 0, s, c, 0, 0, 0, 1);
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Point3 expectedT(0.29552, 0.0446635, 1);
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Pose3 expected(expectedR, expectedT);
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}
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#ifdef CORRECT_POSE3_EXMAP
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/* ************************************************************************* */
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TEST(Pose3, expmap_c)
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{
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EXPECT(assert_equal(screw::expected, expm<Pose3>(screw::xi),1e-6));
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EXPECT(assert_equal(screw::expected, Pose3::Expmap(screw::xi),1e-6));
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}
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/* ************************************************************************* */
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// assert that T*exp(xi)*T^-1 is equal to exp(Ad_T(xi))
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TEST(Pose3, Adjoint)
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{
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Pose3 expected = T * Pose3::Expmap(screw::xi) * inverse(T);
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Vector xiprime = Adjoint(T, screw::xi);
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EXPECT(assert_equal(expected, Pose3::Expmap(xiprime), 1e-6));
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Pose3 expected2 = T2 * Pose3::Expmap(screw::xi) * inverse(T2);
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Vector xiprime2 = Adjoint(T2, screw::xi);
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EXPECT(assert_equal(expected2, Pose3::Expmap(xiprime2), 1e-6));
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Pose3 expected3 = T3 * Pose3::Expmap(screw::xi) * inverse(T3);
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Vector xiprime3 = Adjoint(T3, screw::xi);
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EXPECT(assert_equal(expected3, Pose3::Expmap(xiprime3), 1e-6));
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}
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/* ************************************************************************* */
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/** Agrawal06iros version */
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Pose3 Agrawal06iros(const Vector& xi) {
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Vector w = vector_range<const Vector>(xi, range(0,3));
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Vector v = vector_range<const Vector>(xi, range(3,6));
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double t = norm_2(w);
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if (t < 1e-5)
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return Pose3(Rot3(), expmap<Point3> (v));
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else {
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Matrix W = skewSymmetric(w/t);
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Matrix A = eye(3) + ((1 - cos(t)) / t) * W + ((t - sin(t)) / t) * (W * W);
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return Pose3(Rot3::Expmap (w), expmap<Point3> (A * v));
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}
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}
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/* ************************************************************************* */
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TEST(Pose3, expmaps_galore)
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{
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Vector xi; Pose3 actual;
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xi = Vector_(6,0.1,0.2,0.3,0.4,0.5,0.6);
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actual = Pose3::Expmap(xi);
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EXPECT(assert_equal(expm<Pose3>(xi), actual,1e-6));
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EXPECT(assert_equal(Agrawal06iros(xi), actual,1e-6));
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EXPECT(assert_equal(xi, localCoordinates(actual),1e-6));
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xi = Vector_(6,0.1,-0.2,0.3,-0.4,0.5,-0.6);
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for (double theta=1.0;0.3*theta<=M_PI;theta*=2) {
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Vector txi = xi*theta;
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actual = Pose3::Expmap(txi);
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EXPECT(assert_equal(expm<Pose3>(txi,30), actual,1e-6));
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EXPECT(assert_equal(Agrawal06iros(txi), actual,1e-6));
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Vector log = localCoordinates(actual);
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EXPECT(assert_equal(actual, Pose3::Expmap(log),1e-6));
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EXPECT(assert_equal(txi,log,1e-6)); // not true once wraps
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}
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// Works with large v as well, but expm needs 10 iterations!
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xi = Vector_(6,0.2,0.3,-0.8,100.0,120.0,-60.0);
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actual = Pose3::Expmap(xi);
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EXPECT(assert_equal(expm<Pose3>(xi,10), actual,1e-5));
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EXPECT(assert_equal(Agrawal06iros(xi), actual,1e-6));
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EXPECT(assert_equal(xi, localCoordinates(actual),1e-6));
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}
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/* ************************************************************************* */
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TEST(Pose3, Adjoint_compose)
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{
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// To debug derivatives of compose, assert that
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// T1*T2*exp(Adjoint(inv(T2),x) = T1*exp(x)*T2
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const Pose3& T1 = T;
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Vector x = Vector_(6,0.1,0.1,0.1,0.4,0.2,0.8);
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Pose3 expected = T1 * Pose3::Expmap(x) * T2;
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Vector y = Adjoint(inverse(T2), x);
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Pose3 actual = T1 * T2 * Pose3::Expmap(y);
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EXPECT(assert_equal(expected, actual, 1e-6));
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}
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#endif // SLOW_BUT_CORRECT_EXMAP
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/* ************************************************************************* */
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TEST(Pose3, expmap_c_full)
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{
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EXPECT(assert_equal(screw::expected, expm<Pose3>(screw::xi),1e-6));
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EXPECT(assert_equal(screw::expected, Pose3::Expmap(screw::xi),1e-6));
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}
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/* ************************************************************************* */
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// assert that T*exp(xi)*T^-1 is equal to exp(Ad_T(xi))
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TEST(Pose3, Adjoint_full)
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{
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Pose3 expected = T * Pose3::Expmap(screw::xi) * T.inverse();
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Vector xiprime = T.adjoint(screw::xi);
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EXPECT(assert_equal(expected, Pose3::Expmap(xiprime), 1e-6));
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Pose3 expected2 = T2 * Pose3::Expmap(screw::xi) * T2.inverse();
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Vector xiprime2 = T2.adjoint(screw::xi);
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EXPECT(assert_equal(expected2, Pose3::Expmap(xiprime2), 1e-6));
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Pose3 expected3 = T3 * Pose3::Expmap(screw::xi) * T3.inverse();
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Vector xiprime3 = T3.adjoint(screw::xi);
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EXPECT(assert_equal(expected3, Pose3::Expmap(xiprime3), 1e-6));
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}
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/* ************************************************************************* */
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/** Agrawal06iros version */
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Pose3 Agrawal06iros(const Vector& xi) {
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Vector w = xi.head(3);
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Vector v = xi.tail(3);
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double t = norm_2(w);
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if (t < 1e-5)
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return Pose3(Rot3(), Point3::Expmap(v));
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else {
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Matrix W = skewSymmetric(w/t);
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Matrix A = eye(3) + ((1 - cos(t)) / t) * W + ((t - sin(t)) / t) * (W * W);
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return Pose3(Rot3::Expmap (w), Point3::Expmap(A * v));
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}
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}
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/* ************************************************************************* */
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TEST(Pose3, expmaps_galore_full)
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{
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Vector xi; Pose3 actual;
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xi = Vector_(6,0.1,0.2,0.3,0.4,0.5,0.6);
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actual = Pose3::Expmap(xi);
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EXPECT(assert_equal(expm<Pose3>(xi), actual,1e-6));
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EXPECT(assert_equal(Agrawal06iros(xi), actual,1e-6));
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EXPECT(assert_equal(xi, Pose3::Logmap(actual),1e-6));
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xi = Vector_(6,0.1,-0.2,0.3,-0.4,0.5,-0.6);
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for (double theta=1.0;0.3*theta<=M_PI;theta*=2) {
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Vector txi = xi*theta;
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actual = Pose3::Expmap(txi);
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EXPECT(assert_equal(expm<Pose3>(txi,30), actual,1e-6));
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EXPECT(assert_equal(Agrawal06iros(txi), actual,1e-6));
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Vector log = Pose3::Logmap(actual);
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EXPECT(assert_equal(actual, Pose3::Expmap(log),1e-6));
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EXPECT(assert_equal(txi,log,1e-6)); // not true once wraps
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}
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// Works with large v as well, but expm needs 10 iterations!
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xi = Vector_(6,0.2,0.3,-0.8,100.0,120.0,-60.0);
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actual = Pose3::Expmap(xi);
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EXPECT(assert_equal(expm<Pose3>(xi,10), actual,1e-5));
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EXPECT(assert_equal(Agrawal06iros(xi), actual,1e-6));
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EXPECT(assert_equal(xi, Pose3::Logmap(actual),1e-6));
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}
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/* ************************************************************************* */
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TEST(Pose3, Adjoint_compose_full)
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{
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// To debug derivatives of compose, assert that
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// T1*T2*exp(Adjoint(inv(T2),x) = T1*exp(x)*T2
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const Pose3& T1 = T;
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Vector x = Vector_(6,0.1,0.1,0.1,0.4,0.2,0.8);
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Pose3 expected = T1 * Pose3::Expmap(x) * T2;
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Vector y = T2.inverse().adjoint(x);
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Pose3 actual = T1 * T2 * Pose3::Expmap(y);
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EXPECT(assert_equal(expected, actual, 1e-6));
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}
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/* ************************************************************************* */
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TEST( Pose3, compose )
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{
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Matrix actual = (T2*T2).matrix();
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Matrix expected = T2.matrix()*T2.matrix();
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EXPECT(assert_equal(actual,expected,1e-8));
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Matrix actualDcompose1, actualDcompose2;
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T2.compose(T2, actualDcompose1, actualDcompose2);
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Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T2, T2);
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EXPECT(assert_equal(numericalH1,actualDcompose1,5e-3));
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Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T2, T2);
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EXPECT(assert_equal(numericalH2,actualDcompose2,1e-4));
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}
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/* ************************************************************************* */
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TEST( Pose3, compose2 )
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{
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const Pose3& T1 = T;
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Matrix actual = (T1*T2).matrix();
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Matrix expected = T1.matrix()*T2.matrix();
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EXPECT(assert_equal(actual,expected,1e-8));
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Matrix actualDcompose1, actualDcompose2;
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T1.compose(T2, actualDcompose1, actualDcompose2);
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Matrix numericalH1 = numericalDerivative21(testing::compose<Pose3>, T1, T2);
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EXPECT(assert_equal(numericalH1,actualDcompose1,5e-3));
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Matrix numericalH2 = numericalDerivative22(testing::compose<Pose3>, T1, T2);
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EXPECT(assert_equal(numericalH2,actualDcompose2,1e-5));
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}
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/* ************************************************************************* */
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TEST( Pose3, inverse)
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{
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Matrix actualDinverse;
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Matrix actual = T.inverse(actualDinverse).matrix();
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Matrix expected = inverse(T.matrix());
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EXPECT(assert_equal(actual,expected,1e-8));
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Matrix numericalH = numericalDerivative11(testing::inverse<Pose3>, T);
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EXPECT(assert_equal(numericalH,actualDinverse,5e-3));
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}
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/* ************************************************************************* */
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TEST( Pose3, inverseDerivatives2)
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{
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Rot3 R = Rot3::rodriguez(0.3,0.4,-0.5);
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Point3 t(3.5,-8.2,4.2);
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Pose3 T(R,t);
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Matrix numericalH = numericalDerivative11(testing::inverse<Pose3>, T);
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Matrix actualDinverse;
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T.inverse(actualDinverse);
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EXPECT(assert_equal(numericalH,actualDinverse,5e-3));
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}
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/* ************************************************************************* */
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TEST( Pose3, compose_inverse)
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{
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Matrix actual = (T*T.inverse()).matrix();
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Matrix expected = eye(4,4);
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EXPECT(assert_equal(actual,expected,1e-8));
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}
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/* ************************************************************************* */
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Point3 transform_from_(const Pose3& pose, const Point3& point) { return pose.transform_from(point); }
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TEST( Pose3, Dtransform_from1_a)
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{
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Matrix actualDtransform_from1;
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T.transform_from(P, actualDtransform_from1, boost::none);
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Matrix numerical = numericalDerivative21(transform_from_,T,P);
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EXPECT(assert_equal(numerical,actualDtransform_from1,1e-8));
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}
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TEST( Pose3, Dtransform_from1_b)
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{
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Pose3 origin;
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Matrix actualDtransform_from1;
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origin.transform_from(P, actualDtransform_from1, boost::none);
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Matrix numerical = numericalDerivative21(transform_from_,origin,P);
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EXPECT(assert_equal(numerical,actualDtransform_from1,1e-8));
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}
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TEST( Pose3, Dtransform_from1_c)
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{
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Point3 origin;
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Pose3 T0(R,origin);
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Matrix actualDtransform_from1;
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T0.transform_from(P, actualDtransform_from1, boost::none);
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Matrix numerical = numericalDerivative21(transform_from_,T0,P);
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EXPECT(assert_equal(numerical,actualDtransform_from1,1e-8));
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}
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TEST( Pose3, Dtransform_from1_d)
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{
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Rot3 I;
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Point3 t0(100,0,0);
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Pose3 T0(I,t0);
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Matrix actualDtransform_from1;
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T0.transform_from(P, actualDtransform_from1, boost::none);
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//print(computed, "Dtransform_from1_d computed:");
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Matrix numerical = numericalDerivative21(transform_from_,T0,P);
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//print(numerical, "Dtransform_from1_d numerical:");
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EXPECT(assert_equal(numerical,actualDtransform_from1,1e-8));
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}
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/* ************************************************************************* */
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TEST( Pose3, Dtransform_from2)
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{
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Matrix actualDtransform_from2;
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T.transform_from(P, boost::none, actualDtransform_from2);
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Matrix numerical = numericalDerivative22(transform_from_,T,P);
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EXPECT(assert_equal(numerical,actualDtransform_from2,1e-8));
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}
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/* ************************************************************************* */
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Point3 transform_to_(const Pose3& pose, const Point3& point) { return pose.transform_to(point); }
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TEST( Pose3, Dtransform_to1)
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{
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Matrix computed;
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T.transform_to(P, computed, boost::none);
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Matrix numerical = numericalDerivative21(transform_to_,T,P);
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EXPECT(assert_equal(numerical,computed,1e-8));
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}
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/* ************************************************************************* */
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TEST( Pose3, Dtransform_to2)
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{
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Matrix computed;
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T.transform_to(P, boost::none, computed);
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Matrix numerical = numericalDerivative22(transform_to_,T,P);
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EXPECT(assert_equal(numerical,computed,1e-8));
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}
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/* ************************************************************************* */
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TEST( Pose3, transform_to_with_derivatives)
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{
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Matrix actH1, actH2;
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T.transform_to(P,actH1,actH2);
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Matrix expH1 = numericalDerivative21(transform_to_, T,P),
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expH2 = numericalDerivative22(transform_to_, T,P);
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EXPECT(assert_equal(expH1, actH1, 1e-8));
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EXPECT(assert_equal(expH2, actH2, 1e-8));
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}
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/* ************************************************************************* */
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TEST( Pose3, transform_from_with_derivatives)
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{
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Matrix actH1, actH2;
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T.transform_from(P,actH1,actH2);
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Matrix expH1 = numericalDerivative21(transform_from_, T,P),
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expH2 = numericalDerivative22(transform_from_, T,P);
|
|
EXPECT(assert_equal(expH1, actH1, 1e-8));
|
|
EXPECT(assert_equal(expH2, actH2, 1e-8));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, transform_to_translate)
|
|
{
|
|
Point3 actual = Pose3(Rot3(), Point3(1, 2, 3)).transform_to(Point3(10.,20.,30.));
|
|
Point3 expected(9.,18.,27.);
|
|
EXPECT(assert_equal(expected, actual));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, transform_to_rotate)
|
|
{
|
|
Pose3 transform(Rot3::rodriguez(0,0,-1.570796), Point3());
|
|
Point3 actual = transform.transform_to(Point3(2,1,10));
|
|
Point3 expected(-1,2,10);
|
|
EXPECT(assert_equal(expected, actual, 0.001));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, transform_to)
|
|
{
|
|
Pose3 transform(Rot3::rodriguez(0,0,-1.570796), Point3(2,4, 0));
|
|
Point3 actual = transform.transform_to(Point3(3,2,10));
|
|
Point3 expected(2,1,10);
|
|
EXPECT(assert_equal(expected, actual, 0.001));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, transform_from)
|
|
{
|
|
Point3 actual = T3.transform_from(Point3());
|
|
Point3 expected = Point3(1.,2.,3.);
|
|
EXPECT(assert_equal(expected, actual));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, transform_roundtrip)
|
|
{
|
|
Point3 actual = T3.transform_from(T3.transform_to(Point3(12., -0.11,7.0)));
|
|
Point3 expected(12., -0.11,7.0);
|
|
EXPECT(assert_equal(expected, actual));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, transformPose_to_origin)
|
|
{
|
|
// transform to origin
|
|
Pose3 actual = T3.transform_to(Pose3());
|
|
EXPECT(assert_equal(T3, actual, 1e-8));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, transformPose_to_itself)
|
|
{
|
|
// transform to itself
|
|
Pose3 actual = T3.transform_to(T3);
|
|
EXPECT(assert_equal(Pose3(), actual, 1e-8));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, transformPose_to_translation)
|
|
{
|
|
// transform translation only
|
|
Rot3 r = Rot3::rodriguez(-1.570796,0,0);
|
|
Pose3 pose2(r, Point3(21.,32.,13.));
|
|
Pose3 actual = pose2.transform_to(Pose3(Rot3(), Point3(1,2,3)));
|
|
Pose3 expected(r, Point3(20.,30.,10.));
|
|
EXPECT(assert_equal(expected, actual, 1e-8));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, transformPose_to_simple_rotate)
|
|
{
|
|
// transform translation only
|
|
Rot3 r = Rot3::rodriguez(0,0,-1.570796);
|
|
Pose3 pose2(r, Point3(21.,32.,13.));
|
|
Pose3 transform(r, Point3(1,2,3));
|
|
Pose3 actual = pose2.transform_to(transform);
|
|
Pose3 expected(Rot3(), Point3(-30.,20.,10.));
|
|
EXPECT(assert_equal(expected, actual, 0.001));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, transformPose_to)
|
|
{
|
|
// transform to
|
|
Rot3 r = Rot3::rodriguez(0,0,-1.570796); //-90 degree yaw
|
|
Rot3 r2 = Rot3::rodriguez(0,0,0.698131701); //40 degree yaw
|
|
Pose3 pose2(r2, Point3(21.,32.,13.));
|
|
Pose3 transform(r, Point3(1,2,3));
|
|
Pose3 actual = pose2.transform_to(transform);
|
|
Pose3 expected(Rot3::rodriguez(0,0,2.26892803), Point3(-30.,20.,10.));
|
|
EXPECT(assert_equal(expected, actual, 0.001));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose3, manifold)
|
|
{
|
|
//cout << "manifold" << endl;
|
|
Pose3 t1 = T;
|
|
Pose3 t2 = T3;
|
|
Pose3 origin;
|
|
Vector d12 = t1.localCoordinates(t2);
|
|
EXPECT(assert_equal(t2, t1.retract(d12)));
|
|
// todo: richard - commented out because this tests for "compose-style" (new) expmap
|
|
// EXPECT(assert_equal(t2, retract(origin,d12)*t1));
|
|
Vector d21 = t2.localCoordinates(t1);
|
|
EXPECT(assert_equal(t1, t2.retract(d21)));
|
|
// todo: richard - commented out because this tests for "compose-style" (new) expmap
|
|
// EXPECT(assert_equal(t1, retract(origin,d21)*t2));
|
|
|
|
// Check that log(t1,t2)=-log(t2,t1) - this holds even for incorrect expmap :-)
|
|
EXPECT(assert_equal(d12,-d21));
|
|
|
|
#ifdef CORRECT_POSE3_EXMAP
|
|
|
|
|
|
// todo: Frank - Below only works for correct "Agrawal06iros style expmap
|
|
// lines in canonical coordinates correspond to Abelian subgroups in SE(3)
|
|
Vector d = Vector_(6,0.1,0.2,0.3,0.4,0.5,0.6);
|
|
// exp(-d)=inverse(exp(d))
|
|
EXPECT(assert_equal(Pose3::Expmap(-d),inverse(Pose3::Expmap(d))));
|
|
// exp(5d)=exp(2*d+3*d)=exp(2*d)exp(3*d)=exp(3*d)exp(2*d)
|
|
Pose3 T2 = Pose3::Expmap(2*d);
|
|
Pose3 T3 = Pose3::Expmap(3*d);
|
|
Pose3 T5 = Pose3::Expmap(5*d);
|
|
EXPECT(assert_equal(T5,T2*T3));
|
|
EXPECT(assert_equal(T5,T3*T2));
|
|
|
|
#endif
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, between )
|
|
{
|
|
Pose3 expected = T2.inverse() * T3;
|
|
Matrix actualDBetween1,actualDBetween2;
|
|
Pose3 actual = T2.between(T3, actualDBetween1,actualDBetween2);
|
|
EXPECT(assert_equal(expected,actual));
|
|
|
|
Matrix numericalH1 = numericalDerivative21(testing::between<Pose3> , T2, T3);
|
|
EXPECT(assert_equal(numericalH1,actualDBetween1,5e-3));
|
|
|
|
Matrix numericalH2 = numericalDerivative22(testing::between<Pose3> , T2, T3);
|
|
EXPECT(assert_equal(numericalH2,actualDBetween2,1e-5));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
// some shared test values - pulled from equivalent test in Pose2
|
|
Point3 l1(1, 0, 0), l2(1, 1, 0), l3(2, 2, 0), l4(1, 4,-4);
|
|
Pose3 x1, x2(Rot3::ypr(0.0, 0.0, 0.0), l2), x3(Rot3::ypr(M_PI_4, 0.0, 0.0), l2);
|
|
Pose3
|
|
xl1(Rot3::ypr(0.0, 0.0, 0.0), Point3(1, 0, 0)),
|
|
xl2(Rot3::ypr(0.0, 1.0, 0.0), Point3(1, 1, 0)),
|
|
xl3(Rot3::ypr(1.0, 0.0, 0.0), Point3(2, 2, 0)),
|
|
xl4(Rot3::ypr(0.0, 0.0, 1.0), Point3(1, 4,-4));
|
|
|
|
/* ************************************************************************* */
|
|
LieVector range_proxy(const Pose3& pose, const Point3& point) {
|
|
return LieVector(pose.range(point));
|
|
}
|
|
TEST( Pose3, range )
|
|
{
|
|
Matrix expectedH1, actualH1, expectedH2, actualH2;
|
|
|
|
// establish range is indeed zero
|
|
EXPECT_DOUBLES_EQUAL(1,x1.range(l1),1e-9);
|
|
|
|
// establish range is indeed sqrt2
|
|
EXPECT_DOUBLES_EQUAL(sqrt(2),x1.range(l2),1e-9);
|
|
|
|
// Another pair
|
|
double actual23 = x2.range(l3, actualH1, actualH2);
|
|
EXPECT_DOUBLES_EQUAL(sqrt(2),actual23,1e-9);
|
|
|
|
// Check numerical derivatives
|
|
expectedH1 = numericalDerivative21(range_proxy, x2, l3);
|
|
expectedH2 = numericalDerivative22(range_proxy, x2, l3);
|
|
EXPECT(assert_equal(expectedH1,actualH1));
|
|
EXPECT(assert_equal(expectedH2,actualH2));
|
|
|
|
// Another test
|
|
double actual34 = x3.range(l4, actualH1, actualH2);
|
|
EXPECT_DOUBLES_EQUAL(5,actual34,1e-9);
|
|
|
|
// Check numerical derivatives
|
|
expectedH1 = numericalDerivative21(range_proxy, x3, l4);
|
|
expectedH2 = numericalDerivative22(range_proxy, x3, l4);
|
|
EXPECT(assert_equal(expectedH1,actualH1));
|
|
EXPECT(assert_equal(expectedH2,actualH2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
LieVector range_pose_proxy(const Pose3& pose, const Pose3& point) {
|
|
return LieVector(pose.range(point));
|
|
}
|
|
TEST( Pose3, range_pose )
|
|
{
|
|
Matrix expectedH1, actualH1, expectedH2, actualH2;
|
|
|
|
// establish range is indeed zero
|
|
EXPECT_DOUBLES_EQUAL(1,x1.range(xl1),1e-9);
|
|
|
|
// establish range is indeed sqrt2
|
|
EXPECT_DOUBLES_EQUAL(sqrt(2),x1.range(xl2),1e-9);
|
|
|
|
// Another pair
|
|
double actual23 = x2.range(xl3, actualH1, actualH2);
|
|
EXPECT_DOUBLES_EQUAL(sqrt(2),actual23,1e-9);
|
|
|
|
// Check numerical derivatives
|
|
expectedH1 = numericalDerivative21(range_pose_proxy, x2, xl3);
|
|
expectedH2 = numericalDerivative22(range_pose_proxy, x2, xl3);
|
|
EXPECT(assert_equal(expectedH1,actualH1));
|
|
EXPECT(assert_equal(expectedH2,actualH2));
|
|
|
|
// Another test
|
|
double actual34 = x3.range(xl4, actualH1, actualH2);
|
|
EXPECT_DOUBLES_EQUAL(5,actual34,1e-9);
|
|
|
|
// Check numerical derivatives
|
|
expectedH1 = numericalDerivative21(range_pose_proxy, x3, xl4);
|
|
expectedH2 = numericalDerivative22(range_pose_proxy, x3, xl4);
|
|
EXPECT(assert_equal(expectedH1,actualH1));
|
|
EXPECT(assert_equal(expectedH2,actualH2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose3, unicycle )
|
|
{
|
|
// velocity in X should be X in inertial frame, rather than global frame
|
|
Vector x_step = delta(6,3,1.0);
|
|
EXPECT(assert_equal(Pose3(Rot3::ypr(0,0,0), l1), expmap_default<Pose3>(x1, x_step), tol));
|
|
EXPECT(assert_equal(Pose3(Rot3::ypr(0,0,0), Point3(2,1,0)), expmap_default<Pose3>(x2, x_step), tol));
|
|
EXPECT(assert_equal(Pose3(Rot3::ypr(M_PI_4,0,0), Point3(2,2,0)), expmap_default<Pose3>(x3, sqrt(2) * x_step), tol));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main(){ TestResult tr; return TestRegistry::runAllTests(tr);}
|
|
/* ************************************************************************* */
|