105 lines
2.9 KiB
C++
105 lines
2.9 KiB
C++
/**
|
|
* @file testPose2.cpp
|
|
* @brief Unit tests for Pose2 class
|
|
*/
|
|
|
|
#include <math.h>
|
|
#include <CppUnitLite/TestHarness.h>
|
|
#include "numericalDerivative.h"
|
|
#include "Pose2.h"
|
|
#include "Point2.h"
|
|
|
|
using namespace gtsam;
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose2, constructors) {
|
|
Point2 p;
|
|
Pose2 pose(p,0);
|
|
Pose2 origin;
|
|
assert_equal(pose,origin);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose2, rotate) {
|
|
double theta = 0.1, c=cos(theta),s=sin(theta);
|
|
Pose2 p1(1,0,0.2), p2(0,1,0.4);
|
|
CHECK(assert_equal(Pose2( c,s,0.3),p1.rotate(theta)));
|
|
CHECK(assert_equal(Pose2(-s,c,0.5),p2.rotate(theta)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose2, operators) {
|
|
CHECK(assert_equal(Pose2(2,2,2),Pose2(1,1,1)+Pose2(1,1,1)));
|
|
CHECK(assert_equal(Pose2(0,0,0),Pose2(1,1,1)-Pose2(1,1,1)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose2, transform_to )
|
|
{
|
|
Pose2 pose(1,2,M_PI_2); // robot at (1,2) looking towards y
|
|
Point2 point(-1,4); // landmark at (-1,4)
|
|
|
|
// expected
|
|
Point2 expected(2,2);
|
|
Matrix expectedH1 = Matrix_(2,3, 0.0, -1.0, 2.0, 1.0, 0.0, -2.0);
|
|
Matrix expectedH2 = Matrix_(2,2, 0.0, 1.0, -1.0, 0.0);
|
|
|
|
// actual
|
|
Point2 actual = transform_to(pose,point);
|
|
Matrix actualH1 = Dtransform_to1(pose,point);
|
|
Matrix actualH2 = Dtransform_to2(pose,point);
|
|
|
|
CHECK(assert_equal(expected,actual));
|
|
CHECK(assert_equal(expectedH1,actualH1));
|
|
CHECK(assert_equal(expectedH2,actualH2));
|
|
|
|
Matrix numericalH1 = numericalDerivative21(transform_to, pose, point, 1e-5);
|
|
CHECK(assert_equal(numericalH1,actualH1));
|
|
|
|
Matrix numericalH2 = numericalDerivative22(transform_to, pose, point, 1e-5);
|
|
CHECK(assert_equal(numericalH2,actualH2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose2, between )
|
|
{
|
|
Pose2 p1(1,2,M_PI_2); // robot at (1,2) looking towards y
|
|
Pose2 p2(-1,4,M_PI); // robot at (-1,4) loooking at negative x
|
|
|
|
// expected
|
|
Pose2 expected(2,2,M_PI_2);
|
|
Matrix expectedH1 = Matrix_(3,3,
|
|
0.0,-1.0,2.0,
|
|
1.0,0.0,-2.0,
|
|
0.0,0.0,-1.0
|
|
);
|
|
Matrix expectedH2 = Matrix_(3,3,
|
|
0.0,1.0,0.0,
|
|
-1.0,0.0,0.0,
|
|
0.0,0.0,1.0
|
|
);
|
|
|
|
// actual
|
|
Pose2 actual = between(p1,p2);
|
|
Matrix actualH1 = Dbetween1(p1,p2);
|
|
Matrix actualH2 = Dbetween2(p1,p2);
|
|
|
|
CHECK(assert_equal(expected,actual));
|
|
CHECK(assert_equal(expectedH1,actualH1));
|
|
CHECK(assert_equal(expectedH2,actualH2));
|
|
|
|
Matrix numericalH1 = numericalDerivative21(between, p1, p2, 1e-5);
|
|
CHECK(assert_equal(numericalH1,actualH1));
|
|
|
|
Matrix numericalH2 = numericalDerivative22(between, p1, p2, 1e-5);
|
|
CHECK(assert_equal(numericalH2,actualH2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() {
|
|
TestResult tr;
|
|
return TestRegistry::runAllTests(tr);
|
|
}
|
|
/* ************************************************************************* */
|
|
|