139 lines
4.4 KiB
C++
139 lines
4.4 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------1------------------------------------------- */
|
|
|
|
/**
|
|
* @file testLie.cpp
|
|
* @date May, 2015
|
|
* @author Frank Dellaert
|
|
* @brief unit tests for Lie group type machinery
|
|
*/
|
|
|
|
#include <gtsam/base/ProductLieGroup.h>
|
|
|
|
#include <gtsam/geometry/Pose2.h>
|
|
#include <gtsam/geometry/Point2.h>
|
|
#include <gtsam/base/testLie.h>
|
|
|
|
#include <CppUnitLite/TestHarness.h>
|
|
|
|
using namespace std;
|
|
using namespace gtsam;
|
|
|
|
static const double tol = 1e-9;
|
|
|
|
//******************************************************************************
|
|
typedef ProductLieGroup<Point2, Pose2> Product;
|
|
|
|
// Define any direct product group to be a model of the multiplicative Group concept
|
|
namespace gtsam {
|
|
template<> struct traits<Product> : internal::LieGroupTraits<Product> {
|
|
static void Print(const Product& m, const string& s = "") {
|
|
cout << s << "(" << m.first << "," << m.second.translation() << "/"
|
|
<< m.second.theta() << ")" << endl;
|
|
}
|
|
static bool Equals(const Product& m1, const Product& m2, double tol = 1e-8) {
|
|
return traits<Point2>::Equals(m1.first, m2.first, tol) && m1.second.equals(m2.second, tol);
|
|
}
|
|
};
|
|
}
|
|
|
|
//******************************************************************************
|
|
TEST(Lie, ProductLieGroup) {
|
|
BOOST_CONCEPT_ASSERT((IsGroup<Product>));
|
|
BOOST_CONCEPT_ASSERT((IsManifold<Product>));
|
|
BOOST_CONCEPT_ASSERT((IsLieGroup<Product>));
|
|
Product pair1;
|
|
Vector5 d;
|
|
d << 1, 2, 0.1, 0.2, 0.3;
|
|
Product expected(Point2(1, 2), Pose2::Expmap(Vector3(0.1, 0.2, 0.3)));
|
|
Product pair2 = pair1.expmap(d);
|
|
EXPECT(assert_equal(expected, pair2, 1e-9));
|
|
EXPECT(assert_equal(d, pair1.logmap(pair2), 1e-9));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Product compose_proxy(const Product& A, const Product& B) {
|
|
return A.compose(B);
|
|
}
|
|
TEST( testProduct, compose ) {
|
|
Product state1(Point2(1, 2), Pose2(3, 4, 5)), state2 = state1;
|
|
|
|
Matrix actH1, actH2;
|
|
state1.compose(state2, actH1, actH2);
|
|
Matrix numericH1 = numericalDerivative21(compose_proxy, state1, state2);
|
|
Matrix numericH2 = numericalDerivative22(compose_proxy, state1, state2);
|
|
EXPECT(assert_equal(numericH1, actH1, tol));
|
|
EXPECT(assert_equal(numericH2, actH2, tol));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Product between_proxy(const Product& A, const Product& B) {
|
|
return A.between(B);
|
|
}
|
|
TEST( testProduct, between ) {
|
|
Product state1(Point2(1, 2), Pose2(3, 4, 5)), state2 = state1;
|
|
|
|
Matrix actH1, actH2;
|
|
state1.between(state2, actH1, actH2);
|
|
Matrix numericH1 = numericalDerivative21(between_proxy, state1, state2);
|
|
Matrix numericH2 = numericalDerivative22(between_proxy, state1, state2);
|
|
EXPECT(assert_equal(numericH1, actH1, tol));
|
|
EXPECT(assert_equal(numericH2, actH2, tol));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Product inverse_proxy(const Product& A) {
|
|
return A.inverse();
|
|
}
|
|
TEST( testProduct, inverse ) {
|
|
Product state1(Point2(1, 2), Pose2(3, 4, 5));
|
|
|
|
Matrix actH1;
|
|
state1.inverse(actH1);
|
|
Matrix numericH1 = numericalDerivative11(inverse_proxy, state1);
|
|
EXPECT(assert_equal(numericH1, actH1, tol));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Product expmap_proxy(const Vector5& vec) {
|
|
return Product::Expmap(vec);
|
|
}
|
|
TEST( testProduct, Expmap ) {
|
|
Vector5 vec;
|
|
vec << 1, 2, 0.1, 0.2, 0.3;
|
|
|
|
Matrix actH;
|
|
Product::Expmap(vec, actH);
|
|
Matrix numericH = numericalDerivative11(expmap_proxy, vec);
|
|
EXPECT(assert_equal(numericH, actH, tol));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Vector5 logmap_proxy(const Product& p) {
|
|
return Product::Logmap(p);
|
|
}
|
|
TEST( testProduct, Logmap ) {
|
|
Product state(Point2(1, 2), Pose2(3, 4, 5));
|
|
|
|
Matrix actH;
|
|
Product::Logmap(state, actH);
|
|
Matrix numericH = numericalDerivative11(logmap_proxy, state);
|
|
EXPECT(assert_equal(numericH, actH, tol));
|
|
}
|
|
|
|
//******************************************************************************
|
|
int main() {
|
|
TestResult tr;
|
|
return TestRegistry::runAllTests(tr);
|
|
}
|
|
//******************************************************************************
|
|
|