35 lines
937 B
C++
35 lines
937 B
C++
/**
|
|
* @file testVelocityConstraint3
|
|
* @author Duy-Nguyen Ta
|
|
*/
|
|
|
|
#include <CppUnitLite/TestHarness.h>
|
|
|
|
#include <gtsam/inference/Symbol.h>
|
|
#include <gtsam_unstable/dynamics/VelocityConstraint3.h>
|
|
|
|
using namespace gtsam;
|
|
using namespace gtsam::symbol_shorthand;
|
|
|
|
/* ************************************************************************* */
|
|
// evaluateError
|
|
TEST( testVelocityConstraint3, evaluateError) {
|
|
|
|
const double tol = 1e-5;
|
|
const double dt = 1.0;
|
|
double x1(1.0), x2(2.0), v(1.0);
|
|
|
|
// hard constraints don't need a noise model
|
|
VelocityConstraint3 constraint(X(1), X(2), V(1), dt);
|
|
|
|
// verify error function
|
|
EXPECT(assert_equal(Z_1x1, constraint.evaluateError(x1, x2, v), tol));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() {
|
|
TestResult tr;
|
|
return TestRegistry::runAllTests(tr);
|
|
}
|
|
/* ************************************************************************* */
|