68 lines
2.2 KiB
C++
68 lines
2.2 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 testPose2Values.cpp
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* @authors Frank Dellaert
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**/
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#include <iostream>
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/slam/pose2SLAM.h>
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using namespace std;
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using namespace gtsam;
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using namespace gtsam::pose2SLAM;
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/* ************************************************************************* */
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TEST( Pose2Values, pose2Circle )
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{
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// expected is 4 poses tangent to circle with radius 1m
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Pose2Values expected;
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expected.insert(0, Pose2( 1, 0, M_PI_2));
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expected.insert(1, Pose2( 0, 1, - M_PI ));
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expected.insert(2, Pose2(-1, 0, - M_PI_2));
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expected.insert(3, Pose2( 0, -1, 0 ));
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Pose2Values actual = pose2SLAM::circle(4,1.0);
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CHECK(assert_equal(expected,actual));
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}
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/* ************************************************************************* */
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TEST( Pose2Values, expmap )
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{
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// expected is circle shifted to right
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Pose2Values expected;
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expected.insert(0, Pose2( 1.1, 0, M_PI_2));
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expected.insert(1, Pose2( 0.1, 1, - M_PI ));
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expected.insert(2, Pose2(-0.9, 0, - M_PI_2));
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expected.insert(3, Pose2( 0.1, -1, 0 ));
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// Note expmap coordinates are in local coordinates, so shifting to right requires thought !!!
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Pose2Values circle(pose2SLAM::circle(4,1.0));
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Ordering ordering(*circle.orderingArbitrary());
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VectorValues delta(circle.dims(ordering));
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delta[ordering[Key(0)]] = Vector_(3, 0.0,-0.1,0.0);
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delta[ordering[Key(1)]] = Vector_(3, -0.1,0.0,0.0);
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delta[ordering[Key(2)]] = Vector_(3, 0.0,0.1,0.0);
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delta[ordering[Key(3)]] = Vector_(3, 0.1,0.0,0.0);
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Pose2Values actual = circle.expmap(delta, ordering);
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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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