2010-10-14 12:54:38 +08:00
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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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2010-01-10 23:46:18 +08:00
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/**
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2010-10-09 11:09:58 +08:00
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* @file testPose2Values.cpp
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2010-01-10 23:46:18 +08:00
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* @authors Frank Dellaert
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**/
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#include <iostream>
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2010-08-20 01:23:19 +08:00
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/slam/pose2SLAM.h>
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2010-01-10 23:46:18 +08:00
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using namespace std;
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using namespace gtsam;
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2010-10-09 06:04:47 +08:00
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using namespace gtsam::pose2SLAM;
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2010-01-10 23:46:18 +08:00
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/* ************************************************************************* */
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2010-10-09 11:09:58 +08:00
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TEST( Pose2Values, pose2Circle )
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2010-01-10 23:46:18 +08:00
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{
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// expected is 4 poses tangent to circle with radius 1m
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2010-10-09 11:09:58 +08:00
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Pose2Values expected;
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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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expected.insert(0, Pose2( 1, 0, M_PI_2));
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expected.insert(1, Pose2( 0, 1, - M_PI ));
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expected.insert(2, Pose2(-1, 0, - M_PI_2));
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expected.insert(3, Pose2( 0, -1, 0 ));
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2010-01-10 23:46:18 +08:00
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2010-10-09 11:09:58 +08:00
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Pose2Values actual = pose2SLAM::circle(4,1.0);
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2010-01-10 23:46:18 +08:00
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CHECK(assert_equal(expected,actual));
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}
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2010-01-11 00:17:55 +08:00
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/* ************************************************************************* */
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2010-10-09 11:09:58 +08:00
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TEST( Pose2Values, expmap )
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2010-01-11 00:17:55 +08:00
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{
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// expected is circle shifted to right
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2010-10-09 11:09:58 +08:00
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Pose2Values expected;
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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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expected.insert(0, Pose2( 1.1, 0, M_PI_2));
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expected.insert(1, Pose2( 0.1, 1, - M_PI ));
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expected.insert(2, Pose2(-0.9, 0, - M_PI_2));
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expected.insert(3, Pose2( 0.1, -1, 0 ));
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2010-01-11 00:17:55 +08:00
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// Note expmap coordinates are in local coordinates, so shifting to right requires thought !!!
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2010-10-09 11:09:58 +08:00
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Pose2Values circle(pose2SLAM::circle(4,1.0));
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2010-10-09 06:04:47 +08:00
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Ordering ordering(*circle.orderingArbitrary());
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2010-10-09 11:09:58 +08:00
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VectorValues delta(circle.dims(ordering));
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2010-10-09 06:04:47 +08:00
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delta[ordering[Key(0)]] = Vector_(3, 0.0,-0.1,0.0);
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delta[ordering[Key(1)]] = Vector_(3, -0.1,0.0,0.0);
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delta[ordering[Key(2)]] = Vector_(3, 0.0,0.1,0.0);
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delta[ordering[Key(3)]] = Vector_(3, 0.1,0.0,0.0);
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2010-10-09 11:09:58 +08:00
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Pose2Values actual = circle.expmap(delta, ordering);
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2010-01-11 00:17:55 +08:00
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CHECK(assert_equal(expected,actual));
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}
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2010-01-10 23:46:18 +08:00
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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