603 lines
16 KiB
C++
603 lines
16 KiB
C++
/**
|
|
* @file testTupleConfig.cpp
|
|
* @author Richard Roberts
|
|
* @author Alex Cunningham
|
|
*/
|
|
|
|
#include <gtsam/CppUnitLite/TestHarness.h>
|
|
#include <stdexcept>
|
|
|
|
#define GTSAM_MAGIC_KEY
|
|
|
|
#include <gtsam/geometry/Pose2.h>
|
|
#include <gtsam/geometry/Point2.h>
|
|
#include <gtsam/geometry/Pose3.h>
|
|
#include <gtsam/geometry/Point3.h>
|
|
|
|
#include <gtsam/base/Vector.h>
|
|
#include <gtsam/inference/Key.h>
|
|
#include <gtsam/linear/VectorConfig.h>
|
|
#include <gtsam/nonlinear/TupleConfig-inl.h>
|
|
|
|
using namespace gtsam;
|
|
using namespace std;
|
|
|
|
static const double tol = 1e-5;
|
|
|
|
typedef TypedSymbol<Pose2, 'x'> PoseKey;
|
|
typedef TypedSymbol<Point2, 'l'> PointKey;
|
|
typedef LieConfig<PoseKey, Pose2> PoseConfig;
|
|
typedef LieConfig<PointKey, Point2> PointConfig;
|
|
typedef TupleConfig2<PoseConfig, PointConfig> Config;
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TupleConfig, constructors )
|
|
{
|
|
Pose2 x1(1,2,3), x2(6,7,8);
|
|
Point2 l1(4,5), l2(9,10);
|
|
|
|
Config::Config1 cfg1;
|
|
cfg1.insert(PoseKey(1), x1);
|
|
cfg1.insert(PoseKey(2), x2);
|
|
Config::Config2 cfg2;
|
|
cfg2.insert(PointKey(1), l1);
|
|
cfg2.insert(PointKey(2), l2);
|
|
|
|
Config actual(cfg1, cfg2), expected;
|
|
expected.insert(PoseKey(1), x1);
|
|
expected.insert(PoseKey(2), x2);
|
|
expected.insert(PointKey(1), l1);
|
|
expected.insert(PointKey(2), l2);
|
|
|
|
CHECK(assert_equal(expected, actual));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TupleConfig, insert_equals1 )
|
|
{
|
|
Pose2 x1(1,2,3), x2(6,7,8);
|
|
Point2 l1(4,5), l2(9,10);
|
|
|
|
Config expected;
|
|
expected.insert(PoseKey(1), x1);
|
|
expected.insert(PoseKey(2), x2);
|
|
expected.insert(PointKey(1), l1);
|
|
expected.insert(PointKey(2), l2);
|
|
|
|
Config actual;
|
|
actual.insert(PoseKey(1), x1);
|
|
actual.insert(PoseKey(2), x2);
|
|
actual.insert(PointKey(1), l1);
|
|
actual.insert(PointKey(2), l2);
|
|
|
|
CHECK(assert_equal(expected,actual));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TupleConfig, insert_equals2 )
|
|
{
|
|
Pose2 x1(1,2,3), x2(6,7,8);
|
|
Point2 l1(4,5), l2(9,10);
|
|
|
|
Config config1;
|
|
config1.insert(PoseKey(1), x1);
|
|
config1.insert(PoseKey(2), x2);
|
|
config1.insert(PointKey(1), l1);
|
|
config1.insert(PointKey(2), l2);
|
|
|
|
Config config2;
|
|
config2.insert(PoseKey(1), x1);
|
|
config2.insert(PoseKey(2), x2);
|
|
config2.insert(PointKey(1), l1);
|
|
|
|
CHECK(!config1.equals(config2));
|
|
|
|
config2.insert(2, Point2(9,11));
|
|
|
|
CHECK(!config1.equals(config2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TupleConfig, insert_duplicate )
|
|
{
|
|
Pose2 x1(1,2,3), x2(6,7,8);
|
|
Point2 l1(4,5), l2(9,10);
|
|
|
|
Config config1;
|
|
config1.insert(1, x1); // 3
|
|
config1.insert(2, x2); // 6
|
|
config1.insert(1, l1); // 8
|
|
config1.insert(2, l2); // 10
|
|
config1.insert(2, l1); // still 10 !!!!
|
|
|
|
CHECK(assert_equal(l2, config1[PointKey(2)]));
|
|
LONGS_EQUAL(4,config1.size());
|
|
LONGS_EQUAL(10,config1.dim());
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TupleConfig, size_dim )
|
|
{
|
|
Pose2 x1(1,2,3), x2(6,7,8);
|
|
Point2 l1(4,5), l2(9,10);
|
|
|
|
Config config1;
|
|
config1.insert(PoseKey(1), x1);
|
|
config1.insert(PoseKey(2), x2);
|
|
config1.insert(PointKey(1), l1);
|
|
config1.insert(PointKey(2), l2);
|
|
|
|
EXPECT(config1.size() == 4);
|
|
EXPECT(config1.dim() == 10);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleConfig, at)
|
|
{
|
|
Pose2 x1(1,2,3), x2(6,7,8);
|
|
Point2 l1(4,5), l2(9,10);
|
|
|
|
Config config1;
|
|
config1.insert(PoseKey(1), x1);
|
|
config1.insert(PoseKey(2), x2);
|
|
config1.insert(PointKey(1), l1);
|
|
config1.insert(PointKey(2), l2);
|
|
|
|
EXPECT(assert_equal(x1, config1[PoseKey(1)]));
|
|
EXPECT(assert_equal(x2, config1[PoseKey(2)]));
|
|
EXPECT(assert_equal(l1, config1[PointKey(1)]));
|
|
EXPECT(assert_equal(l2, config1[PointKey(2)]));
|
|
|
|
CHECK_EXCEPTION(config1[PoseKey(3)], std::invalid_argument);
|
|
CHECK_EXCEPTION(config1[PointKey(3)], std::invalid_argument);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleConfig, zero_expmap_logmap)
|
|
{
|
|
Pose2 x1(1,2,3), x2(6,7,8);
|
|
Point2 l1(4,5), l2(9,10);
|
|
|
|
Config config1;
|
|
config1.insert(PoseKey(1), x1);
|
|
config1.insert(PoseKey(2), x2);
|
|
config1.insert(PointKey(1), l1);
|
|
config1.insert(PointKey(2), l2);
|
|
|
|
VectorConfig expected_zero;
|
|
expected_zero.insert("x1", zero(3));
|
|
expected_zero.insert("x2", zero(3));
|
|
expected_zero.insert("l1", zero(2));
|
|
expected_zero.insert("l2", zero(2));
|
|
|
|
CHECK(assert_equal(expected_zero, config1.zero()));
|
|
|
|
VectorConfig delta;
|
|
delta.insert("x1", Vector_(3, 1.0, 1.1, 1.2));
|
|
delta.insert("x2", Vector_(3, 1.3, 1.4, 1.5));
|
|
delta.insert("l1", Vector_(2, 1.0, 1.1));
|
|
delta.insert("l2", Vector_(2, 1.3, 1.4));
|
|
|
|
Config expected;
|
|
expected.insert(PoseKey(1), expmap(x1, Vector_(3, 1.0, 1.1, 1.2)));
|
|
expected.insert(PoseKey(2), expmap(x2, Vector_(3, 1.3, 1.4, 1.5)));
|
|
expected.insert(PointKey(1), Point2(5.0, 6.1));
|
|
expected.insert(PointKey(2), Point2(10.3, 11.4));
|
|
|
|
Config actual = expmap(config1, delta);
|
|
CHECK(assert_equal(expected, actual));
|
|
|
|
// Check log
|
|
VectorConfig expected_log = delta;
|
|
VectorConfig actual_log = logmap(config1,actual);
|
|
CHECK(assert_equal(expected_log, actual_log));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
|
|
// some key types
|
|
typedef TypedSymbol<Vector, 'L'> LamKey;
|
|
typedef TypedSymbol<Pose3, 'a'> Pose3Key;
|
|
typedef TypedSymbol<Point3, 'b'> Point3Key;
|
|
typedef TypedSymbol<Point3, 'c'> Point3Key2;
|
|
|
|
// some config types
|
|
typedef LieConfig<PoseKey, Pose2> PoseConfig;
|
|
typedef LieConfig<PointKey, Point2> PointConfig;
|
|
typedef LieConfig<LamKey, Vector> LamConfig;
|
|
typedef LieConfig<Pose3Key, Pose3> Pose3Config;
|
|
typedef LieConfig<Point3Key, Point3> Point3Config;
|
|
typedef LieConfig<Point3Key2, Point3> Point3Config2;
|
|
|
|
// some TupleConfig types
|
|
typedef TupleConfig<PoseConfig, TupleConfigEnd<PointConfig> > ConfigA;
|
|
typedef TupleConfig<PoseConfig, TupleConfig<PointConfig, TupleConfigEnd<LamConfig> > > ConfigB;
|
|
|
|
typedef TupleConfig1<PoseConfig> TuplePoseConfig;
|
|
typedef TupleConfig1<PointConfig> TuplePointConfig;
|
|
typedef TupleConfig2<PoseConfig, PointConfig> SimpleConfig;
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleConfig, slicing) {
|
|
PointKey l1(1), l2(2);
|
|
Point2 l1_val(1.0, 2.0), l2_val(3.0, 4.0);
|
|
PoseKey x1(1), x2(2);
|
|
Pose2 x1_val(1.0, 2.0, 0.3), x2_val(3.0, 4.0, 0.4);
|
|
|
|
PoseConfig liePoseConfig;
|
|
liePoseConfig.insert(x1, x1_val);
|
|
liePoseConfig.insert(x2, x2_val);
|
|
|
|
PointConfig liePointConfig;
|
|
liePointConfig.insert(l1, l1_val);
|
|
liePointConfig.insert(l2, l2_val);
|
|
|
|
// construct TupleConfig1 from the base config
|
|
TuplePoseConfig tupPoseConfig1(liePoseConfig);
|
|
EXPECT(assert_equal(liePoseConfig, tupPoseConfig1.first(), tol));
|
|
|
|
TuplePointConfig tupPointConfig1(liePointConfig);
|
|
EXPECT(assert_equal(liePointConfig, tupPointConfig1.first(), tol));
|
|
|
|
// // construct a TupleConfig2 from a TupleConfig1
|
|
// SimpleConfig pairConfig1(tupPoseConfig1);
|
|
// EXPECT(assert_equal(liePoseConfig, pairConfig1.first(), tol));
|
|
// EXPECT(pairConfig1.second().empty());
|
|
//
|
|
// SimpleConfig pairConfig2(tupPointConfig1);
|
|
// EXPECT(assert_equal(liePointConfig, pairConfig2.second(), tol));
|
|
// EXPECT(pairConfig1.first().empty());
|
|
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleConfig, basic_functions) {
|
|
// create some tuple configs
|
|
ConfigA configA;
|
|
ConfigB configB;
|
|
|
|
PoseKey x1(1);
|
|
PointKey l1(1);
|
|
LamKey L1(1);
|
|
Pose2 pose1(1.0, 2.0, 0.3);
|
|
Point2 point1(2.0, 3.0);
|
|
Vector lam1 = Vector_(1, 2.3);
|
|
|
|
// Insert
|
|
configA.insert(x1, pose1);
|
|
configA.insert(l1, point1);
|
|
|
|
configB.insert(x1, pose1);
|
|
configB.insert(l1, point1);
|
|
configB.insert(L1, lam1);
|
|
|
|
// bracket operator
|
|
EXPECT(assert_equal(configA[x1], pose1));
|
|
EXPECT(assert_equal(configA[l1], point1));
|
|
EXPECT(assert_equal(configB[x1], pose1));
|
|
EXPECT(assert_equal(configB[l1], point1));
|
|
EXPECT(assert_equal(configB[L1], lam1));
|
|
|
|
// exists
|
|
EXPECT(configA.exists(x1));
|
|
EXPECT(configA.exists(l1));
|
|
EXPECT(configB.exists(x1));
|
|
EXPECT(configB.exists(l1));
|
|
EXPECT(configB.exists(L1));
|
|
|
|
// at
|
|
EXPECT(assert_equal(configA.at(x1), pose1));
|
|
EXPECT(assert_equal(configA.at(l1), point1));
|
|
EXPECT(assert_equal(configB.at(x1), pose1));
|
|
EXPECT(assert_equal(configB.at(l1), point1));
|
|
EXPECT(assert_equal(configB.at(L1), lam1));
|
|
|
|
// size
|
|
EXPECT(configA.size() == 2);
|
|
EXPECT(configB.size() == 3);
|
|
|
|
// dim
|
|
EXPECT(configA.dim() == 5);
|
|
EXPECT(configB.dim() == 6);
|
|
|
|
// erase
|
|
configA.erase(x1);
|
|
CHECK(!configA.exists(x1));
|
|
CHECK(configA.size() == 1);
|
|
configA.erase(l1);
|
|
CHECK(!configA.exists(l1));
|
|
CHECK(configA.size() == 0);
|
|
configB.erase(L1);
|
|
CHECK(!configB.exists(L1));
|
|
CHECK(configB.size() == 2);
|
|
|
|
// clear
|
|
configA.clear();
|
|
EXPECT(configA.size() == 0);
|
|
configB.clear();
|
|
EXPECT(configB.size() == 0);
|
|
|
|
// empty
|
|
EXPECT(configA.empty());
|
|
EXPECT(configB.empty());
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleConfig, insert_config) {
|
|
ConfigB config1, config2, expected;
|
|
|
|
PoseKey x1(1), x2(2);
|
|
PointKey l1(1), l2(2);
|
|
LamKey L1(1), L2(2);
|
|
Pose2 pose1(1.0, 2.0, 0.3), pose2(3.0, 4.0, 5.0);
|
|
Point2 point1(2.0, 3.0), point2(5.0, 6.0);
|
|
Vector lam1 = Vector_(1, 2.3), lam2 = Vector_(1, 4.5);
|
|
|
|
config1.insert(x1, pose1);
|
|
config1.insert(l1, point1);
|
|
config1.insert(L1, lam1);
|
|
|
|
config2.insert(x2, pose2);
|
|
config2.insert(l2, point2);
|
|
config2.insert(L2, lam2);
|
|
|
|
config1.insert(config2);
|
|
|
|
expected.insert(x1, pose1);
|
|
expected.insert(l1, point1);
|
|
expected.insert(L1, lam1);
|
|
expected.insert(x2, pose2);
|
|
expected.insert(l2, point2);
|
|
expected.insert(L2, lam2);
|
|
|
|
CHECK(assert_equal(expected, config1));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TupleConfig, update_element )
|
|
{
|
|
TupleConfig2<PoseConfig, PointConfig> cfg;
|
|
Pose2 x1(2.0, 1.0, 2.0), x2(3.0, 4.0, 5.0);
|
|
Point2 l1(1.0, 2.0), l2(3.0, 4.0);
|
|
PoseKey xk(1);
|
|
PointKey lk(1);
|
|
|
|
cfg.insert(xk, x1);
|
|
CHECK(cfg.size() == 1);
|
|
CHECK(assert_equal(x1, cfg.at(xk)));
|
|
|
|
cfg.update(xk, x2);
|
|
CHECK(cfg.size() == 1);
|
|
CHECK(assert_equal(x2, cfg.at(xk)));
|
|
|
|
cfg.insert(lk, l1);
|
|
CHECK(cfg.size() == 2);
|
|
CHECK(assert_equal(l1, cfg.at(lk)));
|
|
|
|
cfg.update(lk, l2);
|
|
CHECK(cfg.size() == 2);
|
|
CHECK(assert_equal(l2, cfg.at(lk)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TupleConfig, equals )
|
|
{
|
|
Pose2 x1(1,2,3), x2(6,7,8), x2_alt(5,6,7);
|
|
PoseKey x1k(1), x2k(2);
|
|
Point2 l1(4,5), l2(9,10);
|
|
PointKey l1k(1), l2k(2);
|
|
|
|
ConfigA config1, config2, config3, config4, config5;
|
|
|
|
config1.insert(x1k, x1);
|
|
config1.insert(x2k, x2);
|
|
config1.insert(l1k, l1);
|
|
config1.insert(l2k, l2);
|
|
|
|
config2.insert(x1k, x1);
|
|
config2.insert(x2k, x2);
|
|
config2.insert(l1k, l1);
|
|
config2.insert(l2k, l2);
|
|
|
|
config3.insert(x2k, x2);
|
|
config3.insert(l1k, l1);
|
|
|
|
config4.insert(x1k, x1);
|
|
config4.insert(x2k, x2_alt);
|
|
config4.insert(l1k, l1);
|
|
config4.insert(l2k, l2);
|
|
|
|
ConfigA config6(config1);
|
|
|
|
EXPECT(assert_equal(config1,config2));
|
|
EXPECT(assert_equal(config1,config1));
|
|
EXPECT(!config1.equals(config3));
|
|
EXPECT(!config1.equals(config4));
|
|
EXPECT(!config1.equals(config5));
|
|
EXPECT(assert_equal(config1, config6));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleConfig, expmap)
|
|
{
|
|
Pose2 x1(1,2,3), x2(6,7,8);
|
|
PoseKey x1k(1), x2k(2);
|
|
Point2 l1(4,5), l2(9,10);
|
|
PointKey l1k(1), l2k(2);
|
|
|
|
ConfigA config1;
|
|
config1.insert(x1k, x1);
|
|
config1.insert(x2k, x2);
|
|
config1.insert(l1k, l1);
|
|
config1.insert(l2k, l2);
|
|
|
|
VectorConfig delta;
|
|
delta.insert("x1", Vector_(3, 1.0, 1.1, 1.2));
|
|
delta.insert("x2", Vector_(3, 1.3, 1.4, 1.5));
|
|
delta.insert("l1", Vector_(2, 1.0, 1.1));
|
|
delta.insert("l2", Vector_(2, 1.3, 1.4));
|
|
|
|
ConfigA expected;
|
|
expected.insert(x1k, expmap(x1, Vector_(3, 1.0, 1.1, 1.2)));
|
|
expected.insert(x2k, expmap(x2, Vector_(3, 1.3, 1.4, 1.5)));
|
|
expected.insert(l1k, Point2(5.0, 6.1));
|
|
expected.insert(l2k, Point2(10.3, 11.4));
|
|
|
|
CHECK(assert_equal(expected, expmap(config1, delta)));
|
|
CHECK(assert_equal(delta, logmap(config1, expected)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleConfig, expmap_typedefs)
|
|
{
|
|
Pose2 x1(1,2,3), x2(6,7,8);
|
|
PoseKey x1k(1), x2k(2);
|
|
Point2 l1(4,5), l2(9,10);
|
|
PointKey l1k(1), l2k(2);
|
|
|
|
TupleConfig2<PoseConfig, PointConfig> config1, expected, actual;
|
|
config1.insert(x1k, x1);
|
|
config1.insert(x2k, x2);
|
|
config1.insert(l1k, l1);
|
|
config1.insert(l2k, l2);
|
|
|
|
VectorConfig delta;
|
|
delta.insert("x1", Vector_(3, 1.0, 1.1, 1.2));
|
|
delta.insert("x2", Vector_(3, 1.3, 1.4, 1.5));
|
|
delta.insert("l1", Vector_(2, 1.0, 1.1));
|
|
delta.insert("l2", Vector_(2, 1.3, 1.4));
|
|
|
|
expected.insert(x1k, expmap(x1, Vector_(3, 1.0, 1.1, 1.2)));
|
|
expected.insert(x2k, expmap(x2, Vector_(3, 1.3, 1.4, 1.5)));
|
|
expected.insert(l1k, Point2(5.0, 6.1));
|
|
expected.insert(l2k, Point2(10.3, 11.4));
|
|
|
|
CHECK(assert_equal(expected, expmap(config1, delta)));
|
|
//CHECK(assert_equal(delta, logmap(config1, expected)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleConfig, typedefs)
|
|
{
|
|
TupleConfig2<PoseConfig, PointConfig> config1;
|
|
TupleConfig3<PoseConfig, PointConfig, LamConfig> config2;
|
|
TupleConfig4<PoseConfig, PointConfig, LamConfig, Point3Config> config3;
|
|
TupleConfig5<PoseConfig, PointConfig, LamConfig, Point3Config, Pose3Config> config4;
|
|
TupleConfig6<PoseConfig, PointConfig, LamConfig, Point3Config, Pose3Config, Point3Config2> config5;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TupleConfig, pairconfig_style )
|
|
{
|
|
PoseKey x1(1);
|
|
PointKey l1(1);
|
|
LamKey L1(1);
|
|
Pose2 pose1(1.0, 2.0, 0.3);
|
|
Point2 point1(2.0, 3.0);
|
|
Vector lam1 = Vector_(1, 2.3);
|
|
|
|
PoseConfig config1; config1.insert(x1, pose1);
|
|
PointConfig config2; config2.insert(l1, point1);
|
|
LamConfig config3; config3.insert(L1, lam1);
|
|
|
|
// Constructor
|
|
TupleConfig3<PoseConfig, PointConfig, LamConfig> config(config1, config2, config3);
|
|
|
|
// access
|
|
CHECK(assert_equal(config1, config.first()));
|
|
CHECK(assert_equal(config2, config.second()));
|
|
CHECK(assert_equal(config3, config.third()));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleConfig, insert_config_typedef) {
|
|
|
|
TupleConfig4<PoseConfig, PointConfig, LamConfig, Point3Config> config1, config2, expected;
|
|
|
|
PoseKey x1(1), x2(2);
|
|
PointKey l1(1), l2(2);
|
|
LamKey L1(1), L2(2);
|
|
Pose2 pose1(1.0, 2.0, 0.3), pose2(3.0, 4.0, 5.0);
|
|
Point2 point1(2.0, 3.0), point2(5.0, 6.0);
|
|
Vector lam1 = Vector_(1, 2.3), lam2 = Vector_(1, 4.5);
|
|
|
|
config1.insert(x1, pose1);
|
|
config1.insert(l1, point1);
|
|
config1.insert(L1, lam1);
|
|
|
|
config2.insert(x2, pose2);
|
|
config2.insert(l2, point2);
|
|
config2.insert(L2, lam2);
|
|
|
|
config1.insert(config2);
|
|
|
|
expected.insert(x1, pose1);
|
|
expected.insert(l1, point1);
|
|
expected.insert(L1, lam1);
|
|
expected.insert(x2, pose2);
|
|
expected.insert(l2, point2);
|
|
expected.insert(L2, lam2);
|
|
|
|
CHECK(assert_equal(expected, config1));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleConfig, partial_insert) {
|
|
TupleConfig3<PoseConfig, PointConfig, LamConfig> init, expected;
|
|
|
|
PoseKey x1(1), x2(2);
|
|
PointKey l1(1), l2(2);
|
|
LamKey L1(1), L2(2);
|
|
Pose2 pose1(1.0, 2.0, 0.3), pose2(3.0, 4.0, 5.0);
|
|
Point2 point1(2.0, 3.0), point2(5.0, 6.0);
|
|
Vector lam1 = Vector_(1, 2.3), lam2 = Vector_(1, 4.5);
|
|
|
|
init.insert(x1, pose1);
|
|
init.insert(l1, point1);
|
|
init.insert(L1, lam1);
|
|
|
|
PoseConfig cfg1;
|
|
cfg1.insert(x2, pose2);
|
|
|
|
init.insertSub(cfg1);
|
|
|
|
expected.insert(x1, pose1);
|
|
expected.insert(l1, point1);
|
|
expected.insert(L1, lam1);
|
|
expected.insert(x2, pose2);
|
|
|
|
CHECK(assert_equal(expected, init));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleConfig, update) {
|
|
TupleConfig3<PoseConfig, PointConfig, LamConfig> init, superset, expected;
|
|
|
|
PoseKey x1(1), x2(2);
|
|
PointKey l1(1), l2(2);
|
|
Pose2 pose1(1.0, 2.0, 0.3), pose2(3.0, 4.0, 5.0);
|
|
Point2 point1(2.0, 3.0), point2(5.0, 6.0);
|
|
|
|
init.insert(x1, pose1);
|
|
init.insert(l1, point1);
|
|
|
|
|
|
Pose2 pose1_(1.0, 2.0, 0.4);
|
|
Point2 point1_(2.0, 4.0);
|
|
superset.insert(x1, pose1_);
|
|
superset.insert(l1, point1_);
|
|
superset.insert(x2, pose2);
|
|
superset.insert(l2, point2);
|
|
init.update(superset);
|
|
|
|
expected.insert(x1, pose1_);
|
|
expected.insert(l1, point1_);
|
|
|
|
CHECK(assert_equal(expected, init));
|
|
}
|
|
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
|
/* ************************************************************************* */
|