69 lines
2.2 KiB
C++
69 lines
2.2 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 testSimulated3D.cpp
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* @brief Unit tests for simulated 3D measurement functions
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* @author Alex Cunningham
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**/
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#include <gtsam_unstable/slam/simulated3D.h>
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#include <gtsam/nonlinear/Symbol.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <CppUnitLite/TestHarness.h>
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#include <iostream>
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using namespace gtsam;
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// Convenience for named keys
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using symbol_shorthand::X;
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using symbol_shorthand::L;
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/* ************************************************************************* */
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TEST( simulated3D, Values )
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{
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Values actual;
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actual.insert(L(1),Point3(1,1,1));
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actual.insert(X(2),Point3(2,2,2));
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EXPECT(assert_equal(actual,actual,1e-9));
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}
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/* ************************************************************************* */
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TEST( simulated3D, Dprior )
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{
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Point3 x(1,-9, 7);
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Matrix numerical = numericalDerivative11<Point3, Point3>(boost::bind(simulated3D::prior, _1, boost::none),x);
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Matrix computed;
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simulated3D::prior(x,computed);
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EXPECT(assert_equal(numerical,computed,1e-9));
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}
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/* ************************************************************************* */
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TEST( simulated3D, DOdo )
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{
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Point3 x1(1,-9,7),x2(-5,6,7);
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Matrix H1,H2;
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simulated3D::odo(x1,x2,H1,H2);
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Matrix A1 = numericalDerivative21<Point3, Point3, Point3>(boost::bind(simulated3D::odo, _1, _2, boost::none, boost::none),x1,x2);
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EXPECT(assert_equal(A1,H1,1e-9));
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Matrix A2 = numericalDerivative22<Point3, Point3, Point3>(boost::bind(simulated3D::odo, _1, _2, boost::none, boost::none),x1,x2);
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EXPECT(assert_equal(A2,H2,1e-9));
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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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