146 lines
4.2 KiB
C++
146 lines
4.2 KiB
C++
/**
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* @file testPose2.cpp
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* @brief Unit tests for Pose2 class
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*/
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#include <math.h>
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#include <CppUnitLite/TestHarness.h>
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#include "numericalDerivative.h"
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#include "Pose2.h"
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#include "Point2.h"
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#include "Rot2.h"
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using namespace gtsam;
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/* ************************************************************************* */
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TEST(Pose2, constructors) {
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Point2 p;
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Pose2 pose(p,0);
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Pose2 origin;
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assert_equal(pose,origin);
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}
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/* ************************************************************************* */
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TEST(Pose2, exmap) {
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Pose2 pose(Point2(1,2), M_PI_2);
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Pose2 expected(Point2(1.01, 1.985), M_PI_2+0.018);
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Pose2 actual = pose.exmap(Vector_(3, 0.01, -0.015, 0.018));
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CHECK(assert_equal(expected, actual));
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}
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/* ************************************************************************* */
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//TEST(Pose2, rotate) {
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// std::cout << "rotate\n";
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// double theta = 0.1, c=cos(theta),s=sin(theta);
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// Pose2 p1(1,0,0.2), p2(0,1,0.4);
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// CHECK(assert_equal(Pose2( c,s,0.3),p1.rotate(theta)));
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// CHECK(assert_equal(Pose2(-s,c,0.5),p2.rotate(theta)));
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//}
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/* ************************************************************************* */
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TEST(Pose2, operators) {
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CHECK(assert_equal(Pose2(2,2,2),Pose2(1,1,1)+Pose2(1,1,1)));
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CHECK(assert_equal(Pose2(0,0,0),Pose2(1,1,1)-Pose2(1,1,1)));
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}
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/* ************************************************************************* */
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TEST( Pose2, transform_to )
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{
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Pose2 pose(1,2,M_PI_2); // robot at (1,2) looking towards y
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Point2 point(-1,4); // landmark at (-1,4)
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// expected
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Point2 expected(2,2);
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Matrix expectedH1 = Matrix_(2,3, 0.0, -1.0, 2.0, 1.0, 0.0, -2.0);
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Matrix expectedH2 = Matrix_(2,2, 0.0, 1.0, -1.0, 0.0);
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// actual
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Point2 actual = transform_to(pose,point);
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Matrix actualH1 = Dtransform_to1(pose,point);
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Matrix actualH2 = Dtransform_to2(pose,point);
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CHECK(assert_equal(expected,actual));
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CHECK(assert_equal(expectedH1,actualH1));
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CHECK(assert_equal(expectedH2,actualH2));
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Matrix numericalH1 = numericalDerivative21(transform_to, pose, point, 1e-5);
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CHECK(assert_equal(numericalH1,actualH1));
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Matrix numericalH2 = numericalDerivative22(transform_to, pose, point, 1e-5);
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CHECK(assert_equal(numericalH2,actualH2));
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}
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/* ************************************************************************* */
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TEST(Pose2, compose_a)
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{
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Pose2 pose1(Point2(.75, .5), Rot2(M_PI/10.0));
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Pose2 pose2(Point2(0.701289620636, 1.34933052585), Rot2(M_PI/4.0-M_PI/10.0));
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Pose2 pose_expected(Point2(1.0, 2.0), Rot2(M_PI/4.0));
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Pose2 pose_actual_op = pose2 * pose1;
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Pose2 pose_actual_fcn = pose2.compose(pose1);
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CHECK(assert_equal(pose_expected, pose_actual_op));
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CHECK(assert_equal(pose_expected, pose_actual_fcn));
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}
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/* ************************************************************************* */
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TEST(Pose2, compose_b)
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{
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Pose2 pose1(Point2(1.0, 1.0), Rot2(M_PI/4.0));
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Pose2 pose2(Point2(sqrt(.5), sqrt(.5)), Rot2(M_PI/4.0));
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Pose2 pose_expected(Point2(1.0, 2.0), Rot2(M_PI/2.0));
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Pose2 pose_actual_op = pose2 * pose1;
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Pose2 pose_actual_fcn = pose2.compose(pose1);
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CHECK(assert_equal(pose_expected, pose_actual_op));
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CHECK(assert_equal(pose_expected, pose_actual_fcn));
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}
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/* ************************************************************************* */
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TEST( Pose2, between )
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{
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Pose2 p1(1,2,M_PI_2); // robot at (1,2) looking towards y
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Pose2 p2(-1,4,M_PI); // robot at (-1,4) loooking at negative x
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// expected
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Pose2 expected(2,2,M_PI_2);
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Matrix expectedH1 = Matrix_(3,3,
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0.0,-1.0,2.0,
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1.0,0.0,-2.0,
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0.0,0.0,-1.0
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);
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Matrix expectedH2 = Matrix_(3,3,
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0.0,1.0,0.0,
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-1.0,0.0,0.0,
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0.0,0.0,1.0
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);
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// actual
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Pose2 actual = between(p1,p2);
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Matrix actualH1 = Dbetween1(p1,p2);
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Matrix actualH2 = Dbetween2(p1,p2);
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CHECK(assert_equal(expected,actual));
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CHECK(assert_equal(expectedH1,actualH1));
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CHECK(assert_equal(expectedH2,actualH2));
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Matrix numericalH1 = numericalDerivative21(between, p1, p2, 1e-5);
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CHECK(assert_equal(numericalH1,actualH1));
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Matrix numericalH2 = numericalDerivative22(between, p1, p2, 1e-5);
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CHECK(assert_equal(numericalH2,actualH2));
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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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