2009-08-22 06:23:24 +08:00
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/**
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* @file testSimulated2D.cpp
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* @brief Unit tests for simulated 2D measurement functions
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* @author Christian Potthast
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* @author Carlos Nieto
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**/
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#include <iostream>
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#include <CppUnitLite/TestHarness.h>
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#include "numericalDerivative.h"
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#include "simulated2D.h"
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using namespace gtsam;
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using namespace std;
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Large gtsam refactoring
To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors.
The following are the biggest changes:
1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function.
2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just says something like
if (H) *H = Matrix_(3,6,....);
3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'>
4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
2010-01-14 06:25:03 +08:00
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using namespace simulated2D;
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2009-08-22 06:23:24 +08:00
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/* ************************************************************************* */
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TEST( simulated2D, Dprior )
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{
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Vector x(2);x(0)=1;x(1)=-9;
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2010-01-11 02:23:47 +08:00
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Matrix numerical = numericalDerivative11(prior,x);
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2010-01-14 10:50:06 +08:00
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Matrix computed;
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prior(x,computed);
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2009-08-22 06:23:24 +08:00
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CHECK(assert_equal(numerical,computed,1e-9));
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}
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/* ************************************************************************* */
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2010-01-14 10:50:06 +08:00
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TEST( simulated2D, DOdo )
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2009-08-22 06:23:24 +08:00
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{
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Vector x1(2);x1(0)= 1;x1(1)=-9;
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Vector x2(2);x2(0)=-5;x2(1)= 6;
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2010-01-14 10:50:06 +08:00
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Matrix H1,H2;
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odo(x1,x2,H1,H2);
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Matrix A1 = numericalDerivative21(odo,x1,x2);
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CHECK(assert_equal(A1,H1,1e-9));
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Matrix A2 = numericalDerivative22(odo,x1,x2);
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CHECK(assert_equal(A2,H2,1e-9));
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2009-08-22 06:23:24 +08:00
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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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