111 lines
2.8 KiB
C++
111 lines
2.8 KiB
C++
/**
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* @file testRot3.cpp
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* @brief Unit tests for Rot3 class
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* @author Alireza Fathi
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*/
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#include <CppUnitLite/TestHarness.h>
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#include "numericalDerivative.h"
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#include "Rot3.h"
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using namespace gtsam;
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Rot3 R = rodriguez(0.1,0.4,0.2);
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Point3 P(0.2,0.7,-2.0);
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double error = 1e-9, epsilon=0.001;
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/* ************************************************************************* */
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TEST( Rot3, constructor) {
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Rot3 expected(eye(3,3));
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Vector r1(3), r2(3), r3(3);
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r1(0)=1;r1(1)=0;r1(2)=0;
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r2(0)=0;r2(1)=1;r2(2)=0;
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r3(0)=0;r3(1)=0;r3(2)=1;
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Rot3 actual(r1,r2,r3);
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CHECK(assert_equal(actual,expected));
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}
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/* ************************************************************************* */
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TEST( Rot3, constructor2) {
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Matrix R = Matrix_(3,3,
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11.,12.,13.,
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21.,22.,23.,
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31.,32.,33.);
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Rot3 actual(R);
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Rot3 expected(11,12,13,
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21,22,23,
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31,32,33);
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CHECK(assert_equal(actual,expected));
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}
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/* ************************************************************************* */
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TEST( Rot3, equals) {
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CHECK(R.equals(R));
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Rot3 zero;
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CHECK(!R.equals(zero));
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}
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/* ************************************************************************* */
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TEST( Rot3, rodriguez) {
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Rot3 rd1 = rodriguez(epsilon, 0, 0);
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Vector temp(3); temp(0) = epsilon; temp(1) = 0; temp(2) = 0;
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Rot3 rd2 = rodriguez(temp);
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CHECK(assert_equal(rd1,rd2));
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}
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/* ************************************************************************* */
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TEST( Rot3, exmap)
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{
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Vector v(3);
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fill(v.begin(), v.end(), 0);
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CHECK(assert_equal(R.exmap(v), R));
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}
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/* ************************************************************************* */
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// rotate derivatives
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TEST( Rot3, Drotate1)
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{
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Matrix computed = Drotate1(R, P);
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Matrix numerical = numericalDerivative21(rotate,R,P);
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CHECK(assert_equal(numerical,computed,error));
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}
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TEST( Rot3, Drotate2_DNrotate2)
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{
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Matrix computed = Drotate2(R);
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Matrix numerical = numericalDerivative22(rotate,R,P);
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CHECK(assert_equal(numerical,computed,error));
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}
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/* ************************************************************************* */
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// unrotate
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TEST( Rot3, unrotate)
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{
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Point3 w = R*P;
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CHECK(assert_equal(unrotate(R,w),P));
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}
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/* ************************************************************************* */
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// unrotate derivatives
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TEST( Rot3, Dunrotate1)
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{
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Matrix computed = Dunrotate1(R, P);
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Matrix numerical = numericalDerivative21(unrotate,R,P);
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CHECK(assert_equal(numerical,computed,error));
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}
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TEST( Rot3, Dunrotate2_DNunrotate2)
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{
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Matrix computed = Dunrotate2(R);
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Matrix numerical = numericalDerivative22(unrotate,R,P);
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CHECK(assert_equal(numerical,computed,error));
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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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