246 lines
9.8 KiB
C++
246 lines
9.8 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 testNavState.cpp
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* @brief Unit tests for NavState
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* @author Frank Dellaert
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* @date July 2015
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*/
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#include <gtsam/navigation/NavState.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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static const Rot3 kAttitude = Rot3::RzRyRx(0.1, 0.2, 0.3);
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static const Point3 kPosition(1.0, 2.0, 3.0);
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static const Pose3 kPose(kAttitude, kPosition);
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static const Velocity3 kVelocity(0.4, 0.5, 0.6);
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static const NavState kIdentity;
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static const NavState kState1(kAttitude, kPosition, kVelocity);
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static const Vector3 kOmegaCoriolis(0.02, 0.03, 0.04);
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static const Vector3 kGravity(0, 0, 9.81);
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static const Vector9 kZeroXi = Vector9::Zero();
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/* ************************************************************************* */
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TEST(NavState, Constructor) {
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boost::function<NavState(const Rot3&, const Point3&, const Vector3&)> create =
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boost::bind(&NavState::Create, _1, _2, _3, boost::none, boost::none,
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boost::none);
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Matrix aH1, aH2, aH3;
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EXPECT(
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assert_equal(kState1,
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NavState::Create(kAttitude, kPosition, kVelocity, aH1, aH2, aH3)));
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EXPECT(
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assert_equal(
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numericalDerivative31(create, kAttitude, kPosition, kVelocity), aH1));
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EXPECT(
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assert_equal(
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numericalDerivative32(create, kAttitude, kPosition, kVelocity), aH2));
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EXPECT(
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assert_equal(
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numericalDerivative32(create, kAttitude, kPosition, kVelocity), aH2));
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}
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/* ************************************************************************* */
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TEST(NavState, Constructor2) {
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boost::function<NavState(const Pose3&, const Vector3&)> construct =
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boost::bind(&NavState::FromPoseVelocity, _1, _2, boost::none,
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boost::none);
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Matrix aH1, aH2;
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EXPECT(
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assert_equal(kState1,
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NavState::FromPoseVelocity(kPose, kVelocity, aH1, aH2)));
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EXPECT(assert_equal(numericalDerivative21(construct, kPose, kVelocity), aH1));
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EXPECT(assert_equal(numericalDerivative22(construct, kPose, kVelocity), aH2));
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}
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/* ************************************************************************* */
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TEST( NavState, Attitude) {
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Matrix39 aH, eH;
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Rot3 actual = kState1.attitude(aH);
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EXPECT(assert_equal(actual, kAttitude));
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eH = numericalDerivative11<Rot3, NavState>(
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boost::bind(&NavState::attitude, _1, boost::none), kState1);
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EXPECT(assert_equal((Matrix )eH, aH));
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}
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/* ************************************************************************* */
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TEST( NavState, Position) {
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Matrix39 aH, eH;
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Point3 actual = kState1.position(aH);
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EXPECT(assert_equal(actual, kPosition));
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eH = numericalDerivative11<Point3, NavState>(
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boost::bind(&NavState::position, _1, boost::none), kState1);
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EXPECT(assert_equal((Matrix )eH, aH));
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}
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/* ************************************************************************* */
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TEST( NavState, Velocity) {
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Matrix39 aH, eH;
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Velocity3 actual = kState1.velocity(aH);
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EXPECT(assert_equal(actual, kVelocity));
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eH = numericalDerivative11<Velocity3, NavState>(
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boost::bind(&NavState::velocity, _1, boost::none), kState1);
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EXPECT(assert_equal((Matrix )eH, aH));
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}
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/* ************************************************************************* */
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TEST( NavState, BodyVelocity) {
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Matrix39 aH, eH;
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Velocity3 actual = kState1.bodyVelocity(aH);
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EXPECT(assert_equal<Velocity3>(actual, kAttitude.unrotate(kVelocity)));
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eH = numericalDerivative11<Velocity3, NavState>(
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boost::bind(&NavState::bodyVelocity, _1, boost::none), kState1);
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EXPECT(assert_equal((Matrix )eH, aH));
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}
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/* ************************************************************************* */
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TEST( NavState, Manifold ) {
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// Check zero xi
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EXPECT(assert_equal(kIdentity, kIdentity.retract(kZeroXi)));
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EXPECT(assert_equal(kZeroXi, kIdentity.localCoordinates(kIdentity)));
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EXPECT(assert_equal(kState1, kState1.retract(kZeroXi)));
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EXPECT(assert_equal(kZeroXi, kState1.localCoordinates(kState1)));
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// Check definition of retract as operating on components separately
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Vector9 xi;
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xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3;
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Rot3 drot = Rot3::Expmap(xi.head<3>());
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Point3 dt = Point3(xi.segment<3>(3));
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Velocity3 dvel = Velocity3(-0.1, -0.2, -0.3);
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NavState state2 = NavState(kState1.attitude() * drot,
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kState1.position() + kState1.attitude() * dt,
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kState1.velocity() + kState1.attitude() * dvel);
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EXPECT(assert_equal(state2, kState1.retract(xi)));
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EXPECT(assert_equal(xi, kState1.localCoordinates(state2)));
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// roundtrip from state2 to state3 and back
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NavState state3 = state2.retract(xi);
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EXPECT(assert_equal(xi, state2.localCoordinates(state3)));
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// Check retract derivatives
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Matrix9 aH1, aH2;
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kState1.retract(xi, aH1, aH2);
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boost::function<NavState(const NavState&, const Vector9&)> retract =
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boost::bind(&NavState::retract, _1, _2, boost::none, boost::none);
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EXPECT(assert_equal(numericalDerivative21(retract, kState1, xi), aH1));
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EXPECT(assert_equal(numericalDerivative22(retract, kState1, xi), aH2));
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// Check retract derivatives on state 2
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const Vector9 xi2 = -3.0*xi;
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state2.retract(xi2, aH1, aH2);
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EXPECT(assert_equal(numericalDerivative21(retract, state2, xi2), aH1));
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EXPECT(assert_equal(numericalDerivative22(retract, state2, xi2), aH2));
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// Check localCoordinates derivatives
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boost::function<Vector9(const NavState&, const NavState&)> local =
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boost::bind(&NavState::localCoordinates, _1, _2, boost::none,
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boost::none);
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// from state1 to state2
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kState1.localCoordinates(state2, aH1, aH2);
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EXPECT(assert_equal(numericalDerivative21(local, kState1, state2), aH1));
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EXPECT(assert_equal(numericalDerivative22(local, kState1, state2), aH2));
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// from identity to state2
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kIdentity.localCoordinates(state2, aH1, aH2);
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EXPECT(assert_equal(numericalDerivative21(local, kIdentity, state2), aH1));
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EXPECT(assert_equal(numericalDerivative22(local, kIdentity, state2), aH2));
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// from state2 to identity
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state2.localCoordinates(kIdentity, aH1, aH2);
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EXPECT(assert_equal(numericalDerivative21(local, state2, kIdentity), aH1));
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EXPECT(assert_equal(numericalDerivative22(local, state2, kIdentity), aH2));
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}
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/* ************************************************************************* */
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#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
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TEST(NavState, Update) {
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Vector3 omega(M_PI / 100.0, 0.0, 0.0);
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Vector3 acc(0.1, 0.0, 0.0);
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double dt = 10;
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Matrix9 aF;
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Matrix93 aG1, aG2;
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boost::function<NavState(const NavState&, const Vector3&, const Vector3&)> update =
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boost::bind(&NavState::update, _1, _2, _3, dt, boost::none,
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boost::none, boost::none);
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Vector3 b_acc = kAttitude * acc;
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NavState expected(kAttitude.expmap(dt * omega),
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kPosition + Point3((kVelocity + b_acc * dt / 2) * dt),
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kVelocity + b_acc * dt);
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NavState actual = kState1.update(acc, omega, dt, aF, aG1, aG2);
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EXPECT(assert_equal(expected, actual));
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EXPECT(assert_equal(numericalDerivative31(update, kState1, acc, omega, 1e-7), aF, 1e-7));
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EXPECT(assert_equal(numericalDerivative32(update, kState1, acc, omega, 1e-7), aG1, 1e-7));
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EXPECT(assert_equal(numericalDerivative33(update, kState1, acc, omega, 1e-7), aG2, 1e-7));
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// Try different values
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omega = Vector3(0.1, 0.2, 0.3);
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acc = Vector3(0.4, 0.5, 0.6);
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kState1.update(acc, omega, dt, aF, aG1, aG2);
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EXPECT(assert_equal(numericalDerivative31(update, kState1, acc, omega, 1e-7), aF, 1e-7));
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EXPECT(assert_equal(numericalDerivative32(update, kState1, acc, omega, 1e-7), aG1, 1e-7));
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EXPECT(assert_equal(numericalDerivative33(update, kState1, acc, omega, 1e-7), aG2, 1e-7));
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}
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#endif
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/* ************************************************************************* */
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static const double dt = 2.0;
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boost::function<Vector9(const NavState&, const bool&)> coriolis = boost::bind(
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&NavState::coriolis, _1, dt, kOmegaCoriolis, _2, boost::none);
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TEST(NavState, Coriolis) {
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Matrix9 aH;
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// first-order
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kState1.coriolis(dt, kOmegaCoriolis, false, aH);
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EXPECT(assert_equal(numericalDerivative21(coriolis, kState1, false), aH));
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// second-order
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kState1.coriolis(dt, kOmegaCoriolis, true, aH);
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EXPECT(assert_equal(numericalDerivative21(coriolis, kState1, true), aH));
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}
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TEST(NavState, Coriolis2) {
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Matrix9 aH;
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NavState state2(Rot3::RzRyRx(M_PI / 12.0, M_PI / 6.0, M_PI / 4.0),
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Point3(5.0, 1.0, -50.0), Vector3(0.5, 0.0, 0.0));
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// first-order
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state2.coriolis(dt, kOmegaCoriolis, false, aH);
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EXPECT(assert_equal(numericalDerivative21(coriolis, state2, false), aH));
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// second-order
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state2.coriolis(dt, kOmegaCoriolis, true, aH);
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EXPECT(assert_equal(numericalDerivative21(coriolis, state2, true), aH));
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}
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/* ************************************************************************* */
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TEST(NavState, CorrectPIM) {
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Vector9 xi;
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xi << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4, -0.1, -0.2, -0.3;
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double dt = 0.5;
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Matrix9 aH1, aH2;
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boost::function<Vector9(const NavState&, const Vector9&)> correctPIM =
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boost::bind(&NavState::correctPIM, _1, _2, dt, kGravity, kOmegaCoriolis,
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false, boost::none, boost::none);
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kState1.correctPIM(xi, dt, kGravity, kOmegaCoriolis, false, aH1, aH2);
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EXPECT(assert_equal(numericalDerivative21(correctPIM, kState1, xi), aH1));
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EXPECT(assert_equal(numericalDerivative22(correctPIM, kState1, xi), aH2));
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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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