153 lines
5.9 KiB
C++
153 lines
5.9 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 testTSAMFactors.cpp
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* @brief Unit tests for TSAM 1 Factors
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* @author Frank Dellaert
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* @date May 2014
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*/
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#include <gtsam_unstable/slam/TSAMFactors.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <boost/bind/bind.hpp>
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#include <CppUnitLite/TestHarness.h>
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using namespace boost::placeholders;
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using namespace std;
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using namespace gtsam;
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Key i(1), j(2); // Key for pose and point
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//*************************************************************************
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TEST( DeltaFactor, all ) {
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// Create a factor
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Point2 measurement(1, 1);
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static SharedNoiseModel model(noiseModel::Unit::Create(2));
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DeltaFactor factor(i, j, measurement, model);
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// Set the linearization point
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Pose2 pose(1, 2, 0);
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Point2 point(4, 11);
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Vector2 expected(4 - 1 - 1, 11 - 2 - 1);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual;
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Vector actual = factor.evaluateError(pose, point, H1Actual, H2Actual);
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EXPECT(assert_equal(expected, actual, 1e-9));
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// Use numerical derivatives to calculate the Jacobians
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Matrix H1Expected, H2Expected;
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H1Expected = numericalDerivative11<Vector2, Pose2>(
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boost::bind(&DeltaFactor::evaluateError, &factor, _1, point, boost::none,
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boost::none), pose);
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H2Expected = numericalDerivative11<Vector2, Point2>(
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boost::bind(&DeltaFactor::evaluateError, &factor, pose, _1, boost::none,
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boost::none), point);
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// Verify the Jacobians are correct
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EXPECT(assert_equal(H1Expected, H1Actual, 1e-9));
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EXPECT(assert_equal(H2Expected, H2Actual, 1e-9));
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}
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//*************************************************************************
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TEST( DeltaFactorBase, all ) {
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// Create a factor
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Key b1(10), b2(20);
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Point2 measurement(1, 1);
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static SharedNoiseModel model(noiseModel::Unit::Create(2));
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DeltaFactorBase factor(b1, i, b2, j, measurement, model);
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// Set the linearization point
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Pose2 base1, base2(1, 0, 0);
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Pose2 pose(1, 2, 0);
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Point2 point(4, 11);
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Vector2 expected(4 + 1 - 1 - 1, 11 - 2 - 1);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual, H3Actual, H4Actual;
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Vector actual = factor.evaluateError(base1, pose, base2, point, H1Actual,
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H2Actual, H3Actual, H4Actual);
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EXPECT(assert_equal(expected, actual, 1e-9));
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// Use numerical derivatives to calculate the Jacobians
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Matrix H1Expected, H2Expected, H3Expected, H4Expected;
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H1Expected = numericalDerivative11<Vector2, Pose2>(
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boost::bind(&DeltaFactorBase::evaluateError, &factor, _1, pose, base2,
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point, boost::none, boost::none, boost::none, boost::none), base1);
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H2Expected = numericalDerivative11<Vector2, Pose2>(
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boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, _1, base2,
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point, boost::none, boost::none, boost::none, boost::none), pose);
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H3Expected = numericalDerivative11<Vector2, Pose2>(
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boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, _1,
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point, boost::none, boost::none, boost::none, boost::none), base2);
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H4Expected = numericalDerivative11<Vector2, Point2>(
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boost::bind(&DeltaFactorBase::evaluateError, &factor, base1, pose, base2,
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_1, boost::none, boost::none, boost::none, boost::none), point);
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// Verify the Jacobians are correct
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EXPECT(assert_equal(H1Expected, H1Actual, 1e-9));
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EXPECT(assert_equal(H2Expected, H2Actual, 1e-9));
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EXPECT(assert_equal(H3Expected, H3Actual, 1e-9));
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EXPECT(assert_equal(H4Expected, H4Actual, 1e-9));
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}
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//*************************************************************************
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TEST( OdometryFactorBase, all ) {
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// Create a factor
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Key b1(10), b2(20);
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Pose2 measurement(1, 1, 0);
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static SharedNoiseModel model(noiseModel::Unit::Create(2));
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OdometryFactorBase factor(b1, i, b2, j, measurement, model);
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// Set the linearization pose2
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Pose2 base1, base2(1, 0, 0);
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Pose2 pose1(1, 2, 0), pose2(4, 11, 0);
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Vector3 expected(4 + 1 - 1 - 1, 11 - 2 - 1, 0);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual, H3Actual, H4Actual;
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Vector actual = factor.evaluateError(base1, pose1, base2, pose2, H1Actual,
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H2Actual, H3Actual, H4Actual);
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EXPECT(assert_equal(expected, actual, 1e-9));
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// Use numerical derivatives to calculate the Jacobians
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Matrix H1Expected, H2Expected, H3Expected, H4Expected;
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H1Expected = numericalDerivative11<Vector3, Pose2>(
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boost::bind(&OdometryFactorBase::evaluateError, &factor, _1, pose1, base2,
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pose2, boost::none, boost::none, boost::none, boost::none), base1);
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H2Expected = numericalDerivative11<Vector3, Pose2>(
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boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, _1, base2,
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pose2, boost::none, boost::none, boost::none, boost::none), pose1);
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H3Expected = numericalDerivative11<Vector3, Pose2>(
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boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1, _1,
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pose2, boost::none, boost::none, boost::none, boost::none), base2);
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H4Expected = numericalDerivative11<Vector3, Pose2>(
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boost::bind(&OdometryFactorBase::evaluateError, &factor, base1, pose1,
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base2, _1, boost::none, boost::none, boost::none, boost::none),
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pose2);
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// Verify the Jacobians are correct
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EXPECT(assert_equal(H1Expected, H1Actual, 1e-9));
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EXPECT(assert_equal(H2Expected, H2Actual, 1e-9));
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EXPECT(assert_equal(H3Expected, H3Actual, 1e-9));
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EXPECT(assert_equal(H4Expected, H4Actual, 1e-9));
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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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