12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed compile issue and tightened tolerances

release/4.3a0
dellaert 2015-07-24 16:05:15 +02:00
parent 52f109640c
commit 110a046fb6
1 changed files with 70 additions and 71 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

141
gtsam_unstable/dynamics/tests/testPoseRTV.cpp
View File

@ -15,44 +15,43 @@ using namespace gtsam;
GTSAM_CONCEPT_TESTABLE_INST(PoseRTV) GTSAM_CONCEPT_TESTABLE_INST(PoseRTV)
GTSAM_CONCEPT_LIE_INST(PoseRTV) GTSAM_CONCEPT_LIE_INST(PoseRTV)
const double tol=1e-5; static const Rot3 rot = Rot3::RzRyRx(0.1, 0.2, 0.3);
static const Point3 pt(1.0, 2.0, 3.0);
Rot3 rot = Rot3::RzRyRx(0.1, 0.2, 0.3); static const Velocity3 vel(0.4, 0.5, 0.6);
Point3 pt(1.0, 2.0, 3.0); static const Vector3 kZero3 = Vector3::Zero();
Velocity3 vel(0.4, 0.5, 0.6);
/* ************************************************************************* */ /* ************************************************************************* */
TEST( testPoseRTV, constructors ) { TEST( testPoseRTV, constructors ) {
PoseRTV state1(pt, rot, vel); PoseRTV state1(pt, rot, vel);
EXPECT(assert_equal(pt, state1.t(), tol)); EXPECT(assert_equal(pt, state1.t()));
EXPECT(assert_equal(rot, state1.R(), tol)); EXPECT(assert_equal(rot, state1.R()));
EXPECT(assert_equal(vel, state1.v(), tol)); EXPECT(assert_equal(vel, state1.v()));
EXPECT(assert_equal(Pose3(rot, pt), state1.pose(), tol)); EXPECT(assert_equal(Pose3(rot, pt), state1.pose()));
PoseRTV state2; PoseRTV state2;
EXPECT(assert_equal(Point3(), state2.t(), tol)); EXPECT(assert_equal(Point3(), state2.t()));
EXPECT(assert_equal(Rot3(), state2.R(), tol)); EXPECT(assert_equal(Rot3(), state2.R()));
EXPECT(assert_equal(zero(3), state2.v(), tol)); EXPECT(assert_equal(kZero3, state2.v()));
EXPECT(assert_equal(Pose3(), state2.pose(), tol)); EXPECT(assert_equal(Pose3(), state2.pose()));
PoseRTV state3(Pose3(rot, pt), vel); PoseRTV state3(Pose3(rot, pt), vel);
EXPECT(assert_equal(pt, state3.t(), tol)); EXPECT(assert_equal(pt, state3.t()));
EXPECT(assert_equal(rot, state3.R(), tol)); EXPECT(assert_equal(rot, state3.R()));
EXPECT(assert_equal(vel, state3.v(), tol)); EXPECT(assert_equal(vel, state3.v()));
EXPECT(assert_equal(Pose3(rot, pt), state3.pose(), tol)); EXPECT(assert_equal(Pose3(rot, pt), state3.pose()));
PoseRTV state4(Pose3(rot, pt)); PoseRTV state4(Pose3(rot, pt));
EXPECT(assert_equal(pt, state4.t(), tol)); EXPECT(assert_equal(pt, state4.t()));
EXPECT(assert_equal(rot, state4.R(), tol)); EXPECT(assert_equal(rot, state4.R()));
EXPECT(assert_equal(zero(3), state4.v(), tol)); EXPECT(assert_equal(kZero3, state4.v()));
EXPECT(assert_equal(Pose3(rot, pt), state4.pose(), tol)); EXPECT(assert_equal(Pose3(rot, pt), state4.pose()));
Vector vec_init = (Vector(9) << 0.1, 0.2, 0.3, 1.0, 2.0, 3.0, 0.4, 0.5, 0.6).finished(); Vector vec_init = (Vector(9) << 0.1, 0.2, 0.3, 1.0, 2.0, 3.0, 0.4, 0.5, 0.6).finished();
PoseRTV state5(vec_init); PoseRTV state5(vec_init);
EXPECT(assert_equal(pt, state5.t(), tol)); EXPECT(assert_equal(pt, state5.t()));
EXPECT(assert_equal(rot, state5.R(), tol)); EXPECT(assert_equal(rot, state5.R()));
EXPECT(assert_equal(vel, state5.v(), tol)); EXPECT(assert_equal(vel, state5.v()));
EXPECT(assert_equal(vec_init, state5.vector(), tol)); EXPECT(assert_equal(vec_init, state5.vector()));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -65,44 +64,44 @@ TEST( testPoseRTV, dim ) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST( testPoseRTV, equals ) { TEST( testPoseRTV, equals ) {
PoseRTV state1, state2(pt, rot, vel), state3(state2), state4(Pose3(rot, pt)); PoseRTV state1, state2(pt, rot, vel), state3(state2), state4(Pose3(rot, pt));
EXPECT(assert_equal(state1, state1, tol)); EXPECT(assert_equal(state1, state1));
EXPECT(assert_equal(state2, state3, tol)); EXPECT(assert_equal(state2, state3));
EXPECT(assert_equal(state3, state2, tol)); EXPECT(assert_equal(state3, state2));
EXPECT(assert_inequal(state1, state2, tol)); EXPECT(assert_inequal(state1, state2));
EXPECT(assert_inequal(state2, state1, tol)); EXPECT(assert_inequal(state2, state1));
EXPECT(assert_inequal(state2, state4, tol)); EXPECT(assert_inequal(state2, state4));
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST( testPoseRTV, Lie ) { TEST( testPoseRTV, Lie ) {
// origin and zero deltas // origin and zero deltas
PoseRTV identity; PoseRTV identity;
EXPECT(assert_equal(identity, (PoseRTV)identity.retract(zero(9)), tol)); EXPECT(assert_equal(identity, (PoseRTV)identity.retract(zero(9))));
EXPECT(assert_equal(zero(9), identity.localCoordinates(identity), tol)); EXPECT(assert_equal(zero(9), identity.localCoordinates(identity)));
PoseRTV state1(pt, rot, vel); PoseRTV state1(pt, rot, vel);
EXPECT(assert_equal(state1, (PoseRTV)state1.retract(zero(9)), tol)); EXPECT(assert_equal(state1, (PoseRTV)state1.retract(zero(9))));
EXPECT(assert_equal(zero(9), state1.localCoordinates(state1), tol)); EXPECT(assert_equal(zero(9), state1.localCoordinates(state1)));
Vector delta(9); Vector delta(9);
delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3; delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3;
Pose3 pose2 = Pose3(rot, pt).retract(delta.head<6>()); Pose3 pose2 = Pose3(rot, pt).retract(delta.head<6>());
Velocity3 vel2 = vel + Velocity3(-0.1, -0.2, -0.3); Velocity3 vel2 = vel + Velocity3(-0.1, -0.2, -0.3);
PoseRTV state2(pose2.translation(), pose2.rotation(), vel2); PoseRTV state2(pose2.translation(), pose2.rotation(), vel2);
EXPECT(assert_equal(state2, (PoseRTV)state1.retract(delta), tol)); EXPECT(assert_equal(state2, (PoseRTV)state1.retract(delta)));
EXPECT(assert_equal(delta, state1.localCoordinates(state2), tol)); EXPECT(assert_equal(delta, state1.localCoordinates(state2)));
// roundtrip from state2 to state3 and back // roundtrip from state2 to state3 and back
PoseRTV state3 = state2.retract(delta); PoseRTV state3 = state2.retract(delta);
EXPECT(assert_equal(delta, state2.localCoordinates(state3), tol)); EXPECT(assert_equal(delta, state2.localCoordinates(state3)));
// roundtrip from state3 to state4 and back, with expmap. // roundtrip from state3 to state4 and back, with expmap.
PoseRTV state4 = state3.expmap(delta); PoseRTV state4 = state3.expmap(delta);
EXPECT(assert_equal(delta, state3.logmap(state4), tol)); EXPECT(assert_equal(delta, state3.logmap(state4)));
// For the expmap/logmap (not necessarily retract/local) -delta goes other way // For the expmap/logmap (not necessarily retract/local) -delta goes other way
EXPECT(assert_equal(state3, (PoseRTV)state4.expmap(-delta), tol)); EXPECT(assert_equal(state3, (PoseRTV)state4.expmap(-delta)));
EXPECT(assert_equal(delta, -state4.logmap(state3), tol)); EXPECT(assert_equal(delta, -state4.logmap(state3)));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -119,15 +118,15 @@ TEST( testPoseRTV, dynamics_identities ) {
x3 = x2.generalDynamics(accel, gyro, dt); x3 = x2.generalDynamics(accel, gyro, dt);
x4 = x3.generalDynamics(accel, gyro, dt); x4 = x3.generalDynamics(accel, gyro, dt);
// EXPECT(assert_equal(imu01, x0.imuPrediction(x1, dt).first, tol)); // EXPECT(assert_equal(imu01, x0.imuPrediction(x1, dt).first));
// EXPECT(assert_equal(imu12, x1.imuPrediction(x2, dt).first, tol)); // EXPECT(assert_equal(imu12, x1.imuPrediction(x2, dt).first));
// EXPECT(assert_equal(imu23, x2.imuPrediction(x3, dt).first, tol)); // EXPECT(assert_equal(imu23, x2.imuPrediction(x3, dt).first));
// EXPECT(assert_equal(imu34, x3.imuPrediction(x4, dt).first, tol)); // EXPECT(assert_equal(imu34, x3.imuPrediction(x4, dt).first));
// //
// EXPECT(assert_equal(x1.translation(), x0.imuPrediction(x1, dt).second, tol)); // EXPECT(assert_equal(x1.translation(), x0.imuPrediction(x1, dt).second));
// EXPECT(assert_equal(x2.translation(), x1.imuPrediction(x2, dt).second, tol)); // EXPECT(assert_equal(x2.translation(), x1.imuPrediction(x2, dt).second));
// EXPECT(assert_equal(x3.translation(), x2.imuPrediction(x3, dt).second, tol)); // EXPECT(assert_equal(x3.translation(), x2.imuPrediction(x3, dt).second));
// EXPECT(assert_equal(x4.translation(), x3.imuPrediction(x4, dt).second, tol)); // EXPECT(assert_equal(x4.translation(), x3.imuPrediction(x4, dt).second));
} }
@ -140,8 +139,8 @@ TEST( testPoseRTV, compose ) {
state1.compose(state2, actH1, actH2); state1.compose(state2, actH1, actH2);
Matrix numericH1 = numericalDerivative21(compose_proxy, state1, state2); Matrix numericH1 = numericalDerivative21(compose_proxy, state1, state2);
Matrix numericH2 = numericalDerivative22(compose_proxy, state1, state2); Matrix numericH2 = numericalDerivative22(compose_proxy, state1, state2);
EXPECT(assert_equal(numericH1, actH1, tol)); EXPECT(assert_equal(numericH1, actH1));
EXPECT(assert_equal(numericH2, actH2, tol)); EXPECT(assert_equal(numericH2, actH2));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -153,8 +152,8 @@ TEST( testPoseRTV, between ) {
state1.between(state2, actH1, actH2); state1.between(state2, actH1, actH2);
Matrix numericH1 = numericalDerivative21(between_proxy, state1, state2); Matrix numericH1 = numericalDerivative21(between_proxy, state1, state2);
Matrix numericH2 = numericalDerivative22(between_proxy, state1, state2); Matrix numericH2 = numericalDerivative22(between_proxy, state1, state2);
EXPECT(assert_equal(numericH1, actH1, tol)); EXPECT(assert_equal(numericH1, actH1));
EXPECT(assert_equal(numericH2, actH2, tol)); EXPECT(assert_equal(numericH2, actH2));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -165,7 +164,7 @@ TEST( testPoseRTV, inverse ) {
Matrix actH1; Matrix actH1;
state1.inverse(actH1); state1.inverse(actH1);
Matrix numericH1 = numericalDerivative11(inverse_proxy, state1); Matrix numericH1 = numericalDerivative11(inverse_proxy, state1);
EXPECT(assert_equal(numericH1, actH1, tol)); EXPECT(assert_equal(numericH1, actH1));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -173,16 +172,16 @@ double range_proxy(const PoseRTV& A, const PoseRTV& B) { return A.range(B); }
TEST( testPoseRTV, range ) { TEST( testPoseRTV, range ) {
Point3 tA(1.0, 2.0, 3.0), tB(3.0, 2.0, 3.0); Point3 tA(1.0, 2.0, 3.0), tB(3.0, 2.0, 3.0);
PoseRTV rtvA(tA), rtvB(tB); PoseRTV rtvA(tA), rtvB(tB);
EXPECT_DOUBLES_EQUAL(0.0, rtvA.range(rtvA), tol); EXPECT_DOUBLES_EQUAL(0.0, rtvA.range(rtvA), 1e-9);
EXPECT_DOUBLES_EQUAL(2.0, rtvA.range(rtvB), tol); EXPECT_DOUBLES_EQUAL(2.0, rtvA.range(rtvB), 1e-9);
EXPECT_DOUBLES_EQUAL(2.0, rtvB.range(rtvA), tol); EXPECT_DOUBLES_EQUAL(2.0, rtvB.range(rtvA), 1e-9);
Matrix actH1, actH2; Matrix actH1, actH2;
rtvA.range(rtvB, actH1, actH2); rtvA.range(rtvB, actH1, actH2);
Matrix numericH1 = numericalDerivative21(range_proxy, rtvA, rtvB); Matrix numericH1 = numericalDerivative21(range_proxy, rtvA, rtvB);
Matrix numericH2 = numericalDerivative22(range_proxy, rtvA, rtvB); Matrix numericH2 = numericalDerivative22(range_proxy, rtvA, rtvB);
EXPECT(assert_equal(numericH1, actH1, tol)); EXPECT(assert_equal(numericH1, actH1));
EXPECT(assert_equal(numericH2, actH2, tol)); EXPECT(assert_equal(numericH2, actH2));
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -199,12 +198,12 @@ TEST( testPoseRTV, transformed_from_1 ) {
Matrix actDTrans, actDGlobal; Matrix actDTrans, actDGlobal;
PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans); PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans);
PoseRTV expected(transform.compose(start.pose()), transform.rotation().matrix() * V); PoseRTV expected(transform.compose(start.pose()), transform.rotation().matrix() * V);
EXPECT(assert_equal(expected, actual, tol)); EXPECT(assert_equal(expected, actual));
Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails
Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size
EXPECT(assert_equal(numDGlobal, actDGlobal, tol)); EXPECT(assert_equal(numDGlobal, actDGlobal));
EXPECT(assert_equal(numDTrans, actDTrans, tol)); // FIXME: still needs analytic derivative EXPECT(assert_equal(numDTrans, actDTrans, 1e-5)); // FIXME: still needs analytic derivative
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -218,26 +217,26 @@ TEST( testPoseRTV, transformed_from_2 ) {
Matrix actDTrans, actDGlobal; Matrix actDTrans, actDGlobal;
PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans); PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans);
PoseRTV expected(transform.compose(start.pose()), transform.rotation().matrix() * V); PoseRTV expected(transform.compose(start.pose()), transform.rotation().matrix() * V);
EXPECT(assert_equal(expected, actual, tol)); EXPECT(assert_equal(expected, actual));
Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails
Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size
EXPECT(assert_equal(numDGlobal, actDGlobal, tol)); EXPECT(assert_equal(numDGlobal, actDGlobal));
EXPECT(assert_equal(numDTrans, actDTrans, tol)); // FIXME: still needs analytic derivative EXPECT(assert_equal(numDTrans, actDTrans, 1e-5)); // FIXME: still needs analytic derivative
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(testPoseRTV, RRTMbn) { TEST(testPoseRTV, RRTMbn) {
EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(zero(3)), tol)); EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(kZero3)));
EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(Rot3()), tol)); EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(Rot3())));
EXPECT(assert_equal(PoseRTV::RRTMbn(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMbn(Rot3::ypr(0.1, 0.2, 0.3)), tol)); EXPECT(assert_equal(PoseRTV::RRTMbn(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMbn(Rot3::ypr(0.1, 0.2, 0.3))));
} }
/* ************************************************************************* */ /* ************************************************************************* */
TEST(testPoseRTV, RRTMnb) { TEST(testPoseRTV, RRTMnb) {
EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(zero(3)), tol)); EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(kZero3)));
EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(Rot3()), tol)); EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(Rot3())));
EXPECT(assert_equal(PoseRTV::RRTMnb(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMnb(Rot3::ypr(0.1, 0.2, 0.3)), tol)); EXPECT(assert_equal(PoseRTV::RRTMnb(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMnb(Rot3::ypr(0.1, 0.2, 0.3))));
} }
/* ************************************************************************* */ /* ************************************************************************* */