79 lines
2.5 KiB
C++
79 lines
2.5 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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* testSimulated2DOriented.cpp
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*
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* Created on: Jun 10, 2010
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* Author: nikai
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* Description: unit tests for simulated2DOriented
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*/
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#include <iostream>
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/slam/Simulated2DValues.h>
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#include <gtsam/slam/simulated2DOriented.h>
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#include <gtsam/slam/Simulated2DOrientedOdometry.h>
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using namespace gtsam;
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using namespace std;
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using namespace simulated2DOriented;
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/* ************************************************************************* */
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TEST( simulated2DOriented, Simulated2DValues )
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{
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Simulated2DValues actual;
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actual.insertPose(1,Point2(1,1));
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actual.insertPoint(2,Point2(2,2));
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CHECK(assert_equal(actual,actual,1e-9));
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}
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/* ************************************************************************* */
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TEST( simulated2DOriented, Dprior )
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{
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Pose2 x(1,-9, 0.1);
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Matrix numerical = numericalDerivative11(prior,x);
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Matrix computed;
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prior(x,computed);
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CHECK(assert_equal(numerical,computed,1e-9));
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}
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/* ************************************************************************* */
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TEST( simulated2DOriented, DOdo )
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{
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Pose2 x1(1,-9,0.1),x2(-5,6,0.2);
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Matrix H1,H2;
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odo(x1,x2,H1,H2);
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Matrix A1 = numericalDerivative21(odo,x1,x2);
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CHECK(assert_equal(A1,H1,1e-9));
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Matrix A2 = numericalDerivative22(odo,x1,x2);
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CHECK(assert_equal(A2,H2,1e-9));
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}
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/* ************************************************************************* */
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TEST( simulated2DOriented, constructor )
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{
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Pose2 measurement(0.2, 0.3, 0.1);
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SharedDiagonal model(Vector_(3, 1., 1., 1.));
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Simulated2DOrientedOdometry factor(measurement, model, PoseKey(1), PoseKey(2));
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Values config;
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config.insert(PoseKey(1), Pose2(1., 0., 0.2));
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config.insert(PoseKey(2), Pose2(2., 0., 0.1));
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boost::shared_ptr<GaussianFactor> lf = factor.linearize(config, *config.orderingArbitrary());
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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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