42 lines
1.2 KiB
C++
42 lines
1.2 KiB
C++
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/*
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* @file testConfig.cpp
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* @brief Tests for the Visual SLAM configuration class
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* @author Alex Cunningham
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*/
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#include <CppUnitLite/TestHarness.h>
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#define GTSAM_MAGIC_KEY
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#include "VectorConfig.h"
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#include "visualSLAM.h"
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using namespace std;
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using namespace gtsam;
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using namespace gtsam::visualSLAM;
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/* ************************************************************************* */
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TEST( Config, update_with_large_delta) {
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// this test ensures that if the update for delta is larger than
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// the size of the config, it only updates existing variables
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Config init;
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init.insert(1, Pose3());
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init.insert(1, Point3(1.0, 2.0, 3.0));
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Config expected;
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expected.insert(1, Pose3(Rot3(), Point3(0.1, 0.1, 0.1)));
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expected.insert(1, Point3(1.1, 2.1, 3.1));
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VectorConfig delta;
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delta.insert("x1", Vector_(6, 0.0, 0.0, 0.0, 0.1, 0.1, 0.1));
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delta.insert("l1", Vector_(3, 0.1, 0.1, 0.1));
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delta.insert("x2", Vector_(6, 0.0, 0.0, 0.0, 100.1, 4.1, 9.1));
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Config actual = expmap(init, delta);
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CHECK(assert_equal(expected,actual));
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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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