57 lines
1.8 KiB
C++
57 lines
1.8 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 testValues.cpp
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* @brief Tests for the Visual SLAM values structure class
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* @author Alex Cunningham
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*/
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#include <gtsam/CppUnitLite/TestHarness.h>
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#define GTSAM_MAGIC_KEY
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#include <gtsam/linear/VectorValues.h>
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#include <gtsam/slam/visualSLAM.h>
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using namespace std;
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using namespace gtsam;
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using namespace gtsam::visualSLAM;
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/* ************************************************************************* */
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TEST( Values, update_with_large_delta) {
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// this test ensures that if the update for delta is larger than
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// the size of the config, it only updates existing variables
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Values init;
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init.insert(1, Pose3());
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init.insert(1, Point3(1.0, 2.0, 3.0));
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Values expected;
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expected.insert(1, Pose3(Rot3(), Point3(0.1, 0.1, 0.1)));
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expected.insert(1, Point3(1.1, 2.1, 3.1));
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Ordering largeOrdering;
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Values largeValues = init;
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largeValues.insert(2, Pose3());
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largeOrdering += "x1","l1","x2";
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VectorValues delta(largeValues.dims(largeOrdering));
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delta[largeOrdering["x1"]] = Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1);
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delta[largeOrdering["l1"]] = Vector_(3, 0.1, 0.1, 0.1);
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delta[largeOrdering["x2"]] = Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1);
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Values actual = init.expmap(delta, largeOrdering);
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CHECK(assert_equal(expected,actual));
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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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