77 lines
2.7 KiB
C++
77 lines
2.7 KiB
C++
/**
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* @file testPosePriors.cpp
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*
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* @brief Tests partial priors on poses
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*
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* @date Jun 14, 2012
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* @author Alex Cunningham
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam_unstable/slam/PoseRotationPrior.h>
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#include <gtsam_unstable/slam/PoseTranslationPrior.h>
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#include <gtsam/slam/planarSLAM.h>
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#include <gtsam/slam/visualSLAM.h>
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#include <gtsam/nonlinear/Symbol.h>
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using namespace gtsam;
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Key x1 = symbol_shorthand::X(1);
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const SharedNoiseModel model1 = noiseModel::Diagonal::Sigmas(Vector_(1, 0.1));
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const SharedNoiseModel model2 = noiseModel::Diagonal::Sigmas(Vector_(2, 0.1, 0.2));
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const SharedNoiseModel model3 = noiseModel::Diagonal::Sigmas(Vector_(3, 0.1, 0.2, 0.3));
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/* ************************************************************************* */
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TEST( testPoseTranslationPrior, planar) {
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typedef PoseTranslationPrior<Pose2> PlanarTPrior;
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PlanarTPrior actTprior(x1, Point2(2.0, 3.0), model2);
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EXPECT(assert_equal(Point2(2.0, 3.0), actTprior.priorTranslation()));
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Matrix expH(2,3); expH << eye(2,2), zeros(2,1);
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EXPECT(assert_equal(eye(2,3), actTprior.H()));
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}
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/* ************************************************************************* */
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TEST( testPoseTranslationPrior, visual) {
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typedef PoseTranslationPrior<Pose3> VisualTPrior;
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VisualTPrior actPose3Tprior(x1, Point3(2.0, 3.0, 4.0), model3);
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EXPECT(assert_equal(Point3(2.0, 3.0, 4.0), actPose3Tprior.priorTranslation()));
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Matrix expH(3,6); expH << zeros(3,3), eye(3,3);
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EXPECT(assert_equal(expH, actPose3Tprior.H()));
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// typedef PoseTranslationPrior<SimpleCamera> CamTPrior;
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// CamTPrior actCamTprior(x1, Point3(2.0, 3.0, 4.0), model3);
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}
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/* ************************************************************************* */
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TEST( testPoseRotationPrior, planar) {
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typedef PoseRotationPrior<Pose2> PlanarRPrior;
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PlanarRPrior actRprior(x1, Rot2::fromDegrees(30.0), model1);
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EXPECT(assert_equal(Rot2::fromDegrees(30.0), actRprior.priorRotation()));
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Matrix expH(1,3); expH << 0.0, 0.0, 1.0;
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EXPECT(assert_equal(expH, actRprior.H()));
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}
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/* ************************************************************************* */
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TEST( testPoseRotationPrior, visual) {
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typedef PoseRotationPrior<Pose3> VisualRPrior;
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VisualRPrior actPose3Rprior(x1, Rot3::RzRyRx(0.1, 0.2, 0.3), model3);
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EXPECT(assert_equal(Rot3::RzRyRx(0.1, 0.2, 0.3), actPose3Rprior.priorRotation()));
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Matrix expH(3,6); expH << eye(3,3), zeros(3,3);
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EXPECT(assert_equal(expH, actPose3Rprior.H()));
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// typedef testPoseRotationPrior<SimpleCamera> CamRPrior;
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// CamRPrior actCamRprior(x1, Rot3::RzRyRx(0.1, 0.2, 0.3), model3);
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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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