70 lines
2.2 KiB
C++
70 lines
2.2 KiB
C++
/**
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* @file testPendulumExplicitEuler.cpp
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* @author Duy-Nguyen Ta
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam_unstable/dynamics/Pendulum.h>
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/* ************************************************************************* */
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using namespace gtsam;
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using namespace gtsam::symbol_shorthand;
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namespace {
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const double tol=1e-5;
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const double h = 0.1;
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const double g = 9.81, l = 1.0;
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const double deg2rad = M_PI/180.0;
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double q1(deg2rad*30.0), q2(deg2rad*31.0);
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double v1(deg2rad*1.0/h), v2((v1-h*g/l*sin(q1)));
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}
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/* ************************************************************************* */
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TEST( testPendulumFactor1, evaluateError) {
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// hard constraints don't need a noise model
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PendulumFactor1 constraint(Q(2), Q(1), V(1), h);
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// verify error function
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EXPECT(assert_equal(zero(1), constraint.evaluateError(q2, q1, v1), tol));
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}
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/* ************************************************************************* */
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TEST( testPendulumFactor2, evaluateError) {
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// hard constraints don't need a noise model
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PendulumFactor2 constraint(V(2), V(1), Q(1), h);
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// verify error function
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EXPECT(assert_equal(zero(1), constraint.evaluateError(v2, v1, q1), tol));
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}
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/* ************************************************************************* */
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TEST( testPendulumFactorPk, evaluateError) {
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// hard constraints don't need a noise model
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PendulumFactorPk constraint(P(1), Q(1), Q(2), h);
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double pk( 1/h * (q2-q1) + h*g*sin(q1) );
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// verify error function
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EXPECT(assert_equal(zero(1), constraint.evaluateError(pk, q1, q2), tol));
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}
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/* ************************************************************************* */
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TEST( testPendulumFactorPk1, evaluateError) {
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// hard constraints don't need a noise model
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PendulumFactorPk1 constraint(P(2), Q(1), Q(2), h);
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double pk1( 1/h * (q2-q1) );
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// verify error function
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EXPECT(assert_equal(zero(1), constraint.evaluateError(pk1, q1, q2), tol));
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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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