145 lines
4.4 KiB
C++
145 lines
4.4 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 testGPSFactor.cpp
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* @brief Unit test for GPSFactor
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* @author Frank Dellaert
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* @date January 22, 2014
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*/
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#include <gtsam/navigation/GPSFactor.h>
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#include <gtsam/base/Testable.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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#include <GeographicLib/Config.h>
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#include <GeographicLib/LocalCartesian.hpp>
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using namespace std;
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using namespace gtsam;
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using namespace GeographicLib;
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#if GEOGRAPHICLIB_VERSION_MINOR<37
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static const auto& kWGS84 = Geocentric::WGS84;
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#else
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static const auto& kWGS84 = Geocentric::WGS84();
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#endif
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// *************************************************************************
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namespace example {
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// ENU Origin is where the plane was in hold next to runway
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const double lat0 = 33.86998, lon0 = -84.30626, h0 = 274;
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// Convert from GPS to ENU
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LocalCartesian origin_ENU(lat0, lon0, h0, kWGS84);
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// Dekalb-Peachtree Airport runway 2L
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const double lat = 33.87071, lon = -84.30482, h = 274;
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}
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// *************************************************************************
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TEST( GPSFactor, Constructor ) {
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using namespace example;
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// From lat-lon to geocentric
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double E, N, U;
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origin_ENU.Forward(lat, lon, h, E, N, U);
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EXPECT_DOUBLES_EQUAL(133.24, E, 1e-2);
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EXPECT_DOUBLES_EQUAL(80.98, N, 1e-2);
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EXPECT_DOUBLES_EQUAL(0, U, 1e-2);
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// Factor
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Key key(1);
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SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 0.25);
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GPSFactor factor(key, Point3(E, N, U), model);
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// Create a linearization point at zero error
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Pose3 T(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(E, N, U));
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EXPECT(assert_equal(Z_3x1,factor.evaluateError(T),1e-5));
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// Calculate numerical derivatives
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Matrix expectedH = numericalDerivative11<Vector, Pose3>(
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std::bind(&GPSFactor::evaluateError, &factor, std::placeholders::_1, boost::none), T);
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// Use the factor to calculate the derivative
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Matrix actualH;
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factor.evaluateError(T, actualH);
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// Verify we get the expected error
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EXPECT(assert_equal(expectedH, actualH, 1e-8));
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}
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// *************************************************************************
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TEST( GPSFactor2, Constructor ) {
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using namespace example;
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// From lat-lon to geocentric
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double E, N, U;
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origin_ENU.Forward(lat, lon, h, E, N, U);
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// Factor
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Key key(1);
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SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 0.25);
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GPSFactor2 factor(key, Point3(E, N, U), model);
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// Create a linearization point at zero error
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NavState T(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(E, N, U), Vector3::Zero());
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EXPECT(assert_equal(Z_3x1,factor.evaluateError(T),1e-5));
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// Calculate numerical derivatives
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Matrix expectedH = numericalDerivative11<Vector, NavState>(
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std::bind(&GPSFactor2::evaluateError, &factor, std::placeholders::_1, boost::none), T);
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// Use the factor to calculate the derivative
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Matrix actualH;
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factor.evaluateError(T, actualH);
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// Verify we get the expected error
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EXPECT(assert_equal(expectedH, actualH, 1e-8));
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}
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//***************************************************************************
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TEST(GPSData, init) {
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// GPS Reading 1 will be ENU origin
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double t1 = 84831;
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Point3 NED1(0, 0, 0);
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LocalCartesian enu(35.4393283333333, -119.062986666667, 275.54, kWGS84);
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// GPS Readin 2
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double t2 = 84831.5;
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double E, N, U;
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enu.Forward(35.4394633333333, -119.063146666667, 276.52, E, N, U);
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Point3 NED2(N, E, -U);
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// Estimate initial state
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Pose3 T;
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Vector3 nV;
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boost::tie(T, nV) = GPSFactor::EstimateState(t1, NED1, t2, NED2, 84831.0796);
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// Check values values
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EXPECT(assert_equal((Vector )Vector3(29.9575, -29.0564, -1.95993), nV, 1e-4));
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EXPECT( assert_equal(Rot3::Ypr(-0.770131, 0.046928, 0), T.rotation(), 1e-5));
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Point3 expectedT(2.38461, -2.31289, -0.156011);
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EXPECT(assert_equal(expectedT, T.translation(), 1e-5));
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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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