117 lines
3.4 KiB
C++
117 lines
3.4 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 testGraph.cpp
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* @date Jan 12, 2010
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* @author nikai
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* @brief unit test for graph-inl.h
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*/
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#include <iostream>
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#include <boost/shared_ptr.hpp>
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#include <boost/assign/std/list.hpp> // for operator +=
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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// TODO: DANGEROUS, create shared pointers
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#define GTSAM_MAGIC_GAUSSIAN 3
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#include <gtsam/slam/pose2SLAM.h>
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#include <gtsam/inference/graph-inl.h>
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using namespace std;
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using namespace gtsam;
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Key kx(size_t i) { return Symbol('x',i); }
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/* ************************************************************************* */
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// x1 -> x2
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// -> x3 -> x4
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// -> x5
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TEST ( Ordering, predecessorMap2Keys ) {
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PredecessorMap<Key> p_map;
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p_map.insert(kx(1),kx(1));
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p_map.insert(kx(2),kx(1));
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p_map.insert(kx(3),kx(1));
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p_map.insert(kx(4),kx(3));
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p_map.insert(kx(5),kx(1));
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list<Key> expected;
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expected += kx(4),kx(5),kx(3),kx(2),kx(1);//PoseKey(4), PoseKey(5), PoseKey(3), PoseKey(2), PoseKey(1);
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list<Key> actual = predecessorMap2Keys<Key>(p_map);
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LONGS_EQUAL(expected.size(), actual.size());
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list<Key>::const_iterator it1 = expected.begin();
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list<Key>::const_iterator it2 = actual.begin();
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for(; it1!=expected.end(); it1++, it2++)
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CHECK(*it1 == *it2)
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}
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/* ************************************************************************* */
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TEST( Graph, predecessorMap2Graph )
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{
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typedef SGraph<string>::Vertex SVertex;
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SGraph<Key> graph;
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SVertex root;
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map<Key, SVertex> key2vertex;
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PredecessorMap<Key> p_map;
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p_map.insert(kx(1), kx(2));
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p_map.insert(kx(2), kx(2));
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p_map.insert(kx(3), kx(2));
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tie(graph, root, key2vertex) = predecessorMap2Graph<SGraph<Key>, SVertex, Key>(p_map);
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LONGS_EQUAL(3, boost::num_vertices(graph));
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CHECK(root == key2vertex[kx(2)]);
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}
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/* ************************************************************************* */
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TEST( Graph, composePoses )
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{
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pose2SLAM::Graph graph;
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Matrix cov = eye(3);
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Pose2 p1(1.0, 2.0, 0.3), p2(4.0, 5.0, 0.6), p3(7.0, 8.0, 0.9), p4(2.0, 2.0, 2.9);
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Pose2 p12=p1.between(p2), p23=p2.between(p3), p43=p4.between(p3);
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graph.addOdometry(1,2, p12, cov);
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graph.addOdometry(2,3, p23, cov);
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graph.addOdometry(4,3, p43, cov);
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PredecessorMap<Key> tree;
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tree.insert(pose2SLAM::PoseKey(1),pose2SLAM::PoseKey(2));
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tree.insert(pose2SLAM::PoseKey(2),pose2SLAM::PoseKey(2));
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tree.insert(pose2SLAM::PoseKey(3),pose2SLAM::PoseKey(2));
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tree.insert(pose2SLAM::PoseKey(4),pose2SLAM::PoseKey(3));
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Pose2 rootPose = p2;
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boost::shared_ptr<Values> actual = composePoses<pose2SLAM::Graph, pose2SLAM::Odometry,
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Pose2, Key> (graph, tree, rootPose);
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Values expected;
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expected.insert(pose2SLAM::PoseKey(1), p1);
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expected.insert(pose2SLAM::PoseKey(2), p2);
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expected.insert(pose2SLAM::PoseKey(3), p3);
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expected.insert(pose2SLAM::PoseKey(4), p4);
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LONGS_EQUAL(4, actual->size());
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CHECK(assert_equal(expected, *actual));
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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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