73 lines
2.3 KiB
C++
73 lines
2.3 KiB
C++
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testSimulated2DOriented.cpp
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* @date Jun 10, 2010
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* @author nikai
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* @brief unit tests for simulated2DOriented
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*/
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#include <tests/simulated2D.h>
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#include <tests/simulated2DOriented.h>
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#include <gtsam/nonlinear/Symbol.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/numericalDerivative.h>
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using namespace std;
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using namespace gtsam;
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#include <iostream>
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#include <CppUnitLite/TestHarness.h>
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// Convenience for named keys
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using symbol_shorthand::X;
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using symbol_shorthand::L;
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/* ************************************************************************* */
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TEST( simulated2DOriented, Dprior )
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{
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Pose2 x(1,-9, 0.1);
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Matrix numerical = numericalDerivative11(simulated2DOriented::prior,x);
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Matrix computed;
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simulated2DOriented::prior(x,computed);
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CHECK(assert_equal(numerical,computed,1e-9));
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}
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/* ************************************************************************* */
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TEST( simulated2DOriented, DOdo )
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{
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Pose2 x1(1,-9,0.1),x2(-5,6,0.2);
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Matrix H1,H2;
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simulated2DOriented::odo(x1,x2,H1,H2);
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Matrix A1 = numericalDerivative21(simulated2DOriented::odo,x1,x2);
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CHECK(assert_equal(A1,H1,1e-9));
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Matrix A2 = numericalDerivative22(simulated2DOriented::odo,x1,x2);
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CHECK(assert_equal(A2,H2,1e-9));
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}
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/* ************************************************************************* */
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TEST( simulated2DOriented, constructor )
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{
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Pose2 measurement(0.2, 0.3, 0.1);
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SharedDiagonal model(Vector_(3, 1., 1., 1.));
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simulated2DOriented::Odometry factor(measurement, model, X(1), X(2));
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simulated2DOriented::Values config;
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config.insert(X(1), Pose2(1., 0., 0.2));
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config.insert(X(2), Pose2(2., 0., 0.1));
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boost::shared_ptr<GaussianFactor> lf = factor.linearize(config, *config.orderingArbitrary());
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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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