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

Add non-zero tests, error

release/4.3a0
peterQFR 2021-12-20 06:50:29 +10:00
parent ae47ffee29
commit a7f6856d6a
2 changed files with 35 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/navigation/BarometricFactor.cpp
View File

@ -43,7 +43,7 @@ Vector BarometricFactor::evaluateError(const Pose3& p,
boost::optional<Matrix&> H2) const {
if (H2) (*H2) = (Matrix(1,1) << 1.0).finished();
if(H)(*H) = (Matrix(1, 6)<< 0., 0., 0.,0., 0., 1.).finished();
if(H)(*H) = (Matrix(1, 6) << 0., 0., 0., 0., 0., 1.).finished();
return (Vector(1) <<(p.translation().z()+bias - nT_)).finished();
}

54
gtsam/navigation/tests/testBarometricFactor.cpp
View File

@ -84,30 +84,44 @@ TEST( BarometricFactor, Constructor ) {
// *************************************************************************
//***************************************************************************
TEST(GPSData, init) {
TEST(BarometricFactor, nonZero) {
using namespace example;
//meters to barometric.
double baroMeasurement = metersToBaro(10.);
// Factor
Key key(1);
Key key2(2);
SharedNoiseModel model = noiseModel::Isotropic::Sigma(1, 0.25);
BarometricFactor factor(key, key2, baroMeasurement, model);
Pose3 T(Rot3::RzRyRx(0.5, 1., 1.), Point3(20., 30., 1.));
double baroBias=5.;
// Calculate numerical derivatives
Matrix expectedH = numericalDerivative21<Vector,Pose3, double>(
std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1,
std::placeholders::_2, boost::none, boost::none), T, baroBias);
Matrix expectedH2 = numericalDerivative22<Vector,Pose3, double>(
std::bind(&BarometricFactor::evaluateError, &factor, std::placeholders::_1,
std::placeholders::_2, boost::none, boost::none), T, baroBias);
// Use the factor to calculate the derivative and the error
Matrix actualH, actualH2;
Vector error = factor.evaluateError(T, baroBias, actualH, actualH2);
Vector actual = (Vector(1) <<-4.0).finished();
// Verify we get the expected error
EXPECT(assert_equal(expectedH, actualH, 1e-8));
EXPECT(assert_equal(expectedH2, actualH2, 1e-8));
EXPECT(assert_equal(error, actual , 1e-8));
/* GPS Reading 1 will be ENU origin
double t1 = 84831;
Point3 NED1(0, 0, 0);
LocalCartesian enu(35.4393283333333, -119.062986666667, 275.54, kWGS84);
// GPS Readin 2
double t2 = 84831.5;
double E, N, U;
enu.Forward(35.4394633333333, -119.063146666667, 276.52, E, N, U);
Point3 NED2(N, E, -U);
// Estimate initial state
Pose3 T;
Vector3 nV;
boost::tie(T, nV) = GPSFactor::EstimateState(t1, NED1, t2, NED2, 84831.0796);
// Check values values
EXPECT(assert_equal((Vector )Vector3(29.9575, -29.0564, -1.95993), nV, 1e-4));
EXPECT( assert_equal(Rot3::Ypr(-0.770131, 0.046928, 0), T.rotation(), 1e-5));
Point3 expectedT(2.38461, -2.31289, -0.156011);
EXPECT(assert_equal(expectedT, T.translation(), 1e-5));
*/
}
// *************************************************************************