73 lines
2.1 KiB
C++
73 lines
2.1 KiB
C++
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/**
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* @file testControlPoint.cpp
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* @brief A single point in time on a trajectory
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* @author Alex Cunningham
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*/
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#include <set>
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#include <vector>
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#include <boost/foreach.hpp>
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#include <CppUnitLite/TestHarness.h>
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#include <ControlPoint.h>
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using namespace std;
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using namespace gtsam;
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TEST ( ControlPoint, constructors ) {
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// make a default point, stationary at time zero at the origin
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ControlPoint pt1;
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CHECK(assert_equal(pt1.pos(), Pose2()));
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CHECK(assert_equal(pt1.vel(), Pose2()));
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CHECK(pt1.time() < 1e-9); // check for zero time
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// make a point in same place to test constructors
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ControlPoint pt2(Pose2(), Pose2(), 0.0);
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CHECK(assert_equal(pt2.pos(), Pose2()));
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CHECK(assert_equal(pt2.vel(), Pose2()));
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CHECK(pt2.time() < 1e-9); // check for zero time
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// check equality
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CHECK(assert_equal(pt2, pt1));
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// make a specific point
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Pose2 pos(1.0, 2.0, 3.0);
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Pose2 vel(0.1, 0.2, 0.3);
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double time = 0.5;
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ControlPoint pt3(pos, vel, time);
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CHECK(assert_equal(pt3.pos(), pos));
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CHECK(assert_equal(pt3.vel(), vel));
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CHECK(fabs(pt3.time()-time) < 1e-9);
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// use manual constructor
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double posx=1.0, posy=2.0, posr=3.0;
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double velx=0.1, vely=0.2, velr=0.3;
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ControlPoint pt4(posx, posy, posr, velx, vely, velr, time);
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CHECK(assert_equal(pt3, pt4));
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}
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TEST ( ControlPoint, exmap ) {
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// add a delta to an existing point
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Pose2 pos(1.0, 2.0, 3.0);
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Pose2 vel(0.1, 0.2, 0.3);
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double time = 0.5;
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ControlPoint pt(pos, vel, time);
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// ensure that zero vector doesn't change the point
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ControlPoint act1 = pt.exmap(zero(7));
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CHECK(assert_equal(pt, act1));
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// add a real delta
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Vector delta1 = Vector_(7, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7);
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ControlPoint act2 = pt.exmap(delta1);
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Pose2 pos_exp(1.1, 2.2, 3.3);
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Pose2 vel_exp(0.5, 0.7, 0.9);
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double time_exp = 1.2;
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ControlPoint pt_exp(pos_exp, vel_exp, time_exp);
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CHECK(assert_equal(act2, pt_exp));
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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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