67 lines
2.0 KiB
C++
67 lines
2.0 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 testSimilarity2.cpp
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* @brief Unit tests for Similarity2 class
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* @author Varun Agrawal
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/base/testLie.h>
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#include <gtsam/geometry/Similarity2.h>
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#include <functional>
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using namespace std::placeholders;
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using namespace gtsam;
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using namespace std;
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using symbol_shorthand::X;
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GTSAM_CONCEPT_TESTABLE_INST(Similarity2)
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static const Point2 P(0.2, 0.7);
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static const Rot2 R = Rot2::fromAngle(0.3);
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const double degree = M_PI / 180;
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//******************************************************************************
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TEST(Similarity2, Concepts) {
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BOOST_CONCEPT_ASSERT((IsGroup<Similarity2>));
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BOOST_CONCEPT_ASSERT((IsManifold<Similarity2>));
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BOOST_CONCEPT_ASSERT((IsLieGroup<Similarity2>));
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}
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//******************************************************************************
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TEST(Similarity2, Constructors) {
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Similarity2 sim2_Construct1;
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Similarity2 sim2_Construct2(s);
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Similarity2 sim2_Construct3(R, P, s);
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Similarity2 sim2_Construct4(R.matrix(), P, s);
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}
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//******************************************************************************
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TEST(Similarity2, Getters) {
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Similarity2 sim2_default;
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EXPECT(assert_equal(Rot2(), sim2_default.rotation()));
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EXPECT(assert_equal(Point2(0, 0), sim2_default.translation()));
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EXPECT_DOUBLES_EQUAL(1.0, sim2_default.scale(), 1e-9);
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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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