77 lines
2.4 KiB
C++
77 lines
2.4 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file testSimulated3D.cpp
|
|
* @brief Unit tests for simulated 3D measurement functions
|
|
* @author Alex Cunningham
|
|
**/
|
|
|
|
#include <tests/simulated3D.h>
|
|
#include <gtsam/inference/Symbol.h>
|
|
#include <gtsam/geometry/Pose3.h>
|
|
#include <gtsam/base/Testable.h>
|
|
#include <gtsam/base/numericalDerivative.h>
|
|
|
|
#include <boost/bind/bind.hpp>
|
|
#include <CppUnitLite/TestHarness.h>
|
|
|
|
#include <iostream>
|
|
|
|
using namespace std::placeholders;
|
|
using namespace gtsam;
|
|
|
|
// Convenience for named keys
|
|
using symbol_shorthand::X;
|
|
using symbol_shorthand::L;
|
|
|
|
/* ************************************************************************* */
|
|
TEST( simulated3D, Values )
|
|
{
|
|
Values actual;
|
|
actual.insert(L(1),Point3(1,1,1));
|
|
actual.insert(X(2),Point3(2,2,2));
|
|
EXPECT(assert_equal(actual,actual,1e-9));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( simulated3D, Dprior )
|
|
{
|
|
Point3 x(1,-9, 7);
|
|
Matrix numerical = numericalDerivative11<Point3, Point3>(std::bind(simulated3D::prior, std::placeholders::_1, boost::none),x);
|
|
Matrix computed;
|
|
simulated3D::prior(x,computed);
|
|
EXPECT(assert_equal(numerical,computed,1e-9));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( simulated3D, DOdo )
|
|
{
|
|
Point3 x1(1, -9, 7), x2(-5, 6, 7);
|
|
Matrix H1, H2;
|
|
simulated3D::odo(x1, x2, H1, H2);
|
|
Matrix A1 = numericalDerivative21<Point3, Point3, Point3>(
|
|
std::bind(simulated3D::odo, std::placeholders::_1, std::placeholders::_2,
|
|
boost::none, boost::none),
|
|
x1, x2);
|
|
EXPECT(assert_equal(A1, H1, 1e-9));
|
|
Matrix A2 = numericalDerivative22<Point3, Point3, Point3>(
|
|
std::bind(simulated3D::odo, std::placeholders::_1, std::placeholders::_2,
|
|
boost::none, boost::none),
|
|
x1, x2);
|
|
EXPECT(assert_equal(A2, H2, 1e-9));
|
|
}
|
|
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
|
|
/* ************************************************************************* */
|