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Replaced failing test with two new, working tests

release/4.3a0
dellaert 2015-07-16 22:38:30 -07:00
parent b8f5141743
commit 459226800d
1 changed files with 8 additions and 14 deletions
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22
gtsam_unstable/dynamics/tests/testPoseRTV.cpp
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@ -84,7 +84,8 @@ TEST( testPoseRTV, Lie ) {
EXPECT(assert_equal(state1, (PoseRTV)state1.retract(zero(9)), tol));
EXPECT(assert_equal(zero(9), state1.localCoordinates(state1), tol));
Vector delta = (Vector(9) << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3).finished();
Vector delta(9);
delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3;
Rot3 rot2 = rot.retract(repeat(3, 0.1));
Point3 pt2 = pt + rot * Point3(0.2, 0.3, 0.4);
Velocity3 vel2 = vel + rot * Velocity3(-0.1,-0.2,-0.3);
@ -92,21 +93,14 @@ TEST( testPoseRTV, Lie ) {
EXPECT(assert_equal(state2, (PoseRTV)state1.retract(delta), 1e-1));
EXPECT(assert_equal(delta, state1.localCoordinates(state2), 1e-1));
EXPECT(assert_equal(delta, -state2.localCoordinates(state1), 1e-1));
}
/* ************************************************************************* */
TEST(testPoseRTV, localCoordinates) {
Point3 i1(0, 1, 0), j1(-1, 0, 0), k1(0, 0, 1);
Pose3 x1(Rot3(i1, j1, k1), Point3(5.0, 1.0, 0.0));
Vector3 v1(Vector3(0.5, 0.0, 0.0));
// roundtrip from state2 to state3 and back
PoseRTV state3 = state2.retract(delta);
EXPECT(assert_equal(delta, state2.localCoordinates(state3), 1e-1));
Pose3 x2(Rot3(i1, j1, k1).expmap(Vector3(0.1, 0.2, 0.3)), Point3(5.5, 1.0, 6.0));
Vector3 v2(Vector3(0.5, 4.0, 3.0));
PoseRTV rtv1(x1,v1), rtv2(x2,v2);
Vector9 expected, actual = rtv1.localCoordinates(rtv2);
expected << 0.1, 0.2, 0.3, 0.0, -0.5, 6.0, 4.0, 0.0, 3.0;
EXPECT(assert_equal(expected, actual, 1e-9));
// roundtrip from state3 to state4 and back, with expmap
PoseRTV state4 = state3.expmap(delta);
EXPECT(assert_equal(delta, state3.logmap(state4), 1e-1));
}
/* ************************************************************************* */