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Got rid of commented out tests, made MC do more samples

release/4.3a0
Frank Dellaert 2015-10-10 14:16:30 -07:00
parent a69c43bf43
commit ee7ada9b81
1 changed files with 5 additions and 43 deletions
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48
gtsam/navigation/tests/testImuFactor.cpp
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@ -163,8 +163,6 @@ bool MonteCarlo(const PreintegratedImuMeasurements& pim,
return assert_equal(Matrix(Q), actual, 1e-4);
}
#if 1
/* ************************************************************************* */
TEST(ImuFactor, StraightLine) {
// Set up IMU measurements
@ -610,7 +608,6 @@ TEST(ImuFactor, FirstOrderPreIntegratedMeasurements) {
EXPECT(
assert_equal(expectedDelRdelBiasOmega, preintegrated.delRdelBiasOmega()));
}
#endif
/* ************************************************************************* */
Vector3 correctedAcc(const PreintegratedImuMeasurements& pim, const Vector3& measuredAcc, const Vector3& measuredOmega) {
@ -698,25 +695,13 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) {
#endif
EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, dt, body_P_sensor,
measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 10000));
measuredAcc, measuredOmega, accNoiseVar2, omegaNoiseVar2, 100000));
// Matrix expected(9,9);
// expected <<
// 0.0290780477, 4.63277848e-07, 9.23468723e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, //
// 4.63277848e-07, 0.0290688208, 4.62505461e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, //
// 9.23468723e-05, 4.62505461e-06, 0.0299907267, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, //
// 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, 0.0, //
// 0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, 0.0, //
// 0.0, 0.0, 0.0, 0.0, 0.0, 0.0026, 0.0, 0.0, 0.005, //
// 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, 0.0, //
// 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01, 0.0, //
// 0.0, 0.0, 0.0, 0.0, 0.0, 0.005, 0.0, 0.0, 0.01;
pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor);
// EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-6));
// integrate one more time (at least twice) to get position information
// integrate at least twice to get position information
// otherwise factor cov noise from preint_cov is not positive definite
pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor);
pim.integrateMeasurement(measuredAcc, measuredOmega, dt, body_P_sensor);
// Create factor
ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown,
@ -727,16 +712,6 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) {
Vector3 actual_v2;
ImuFactor::Predict(x1, v1, actual_x2, actual_v2, bias, pim,
kGravityAlongNavZDown, kZeroOmegaCoriolis);
// Regression test with
// Rot3 expectedR( //
// 0.456795409, -0.888128414, 0.0506544554, //
// 0.889548908, 0.45563417, -0.0331699173, //
// 0.00637924528, 0.0602114814, 0.998165258);
// Point3 expectedT(5.30373101, 0.768972495, -49.9942188);
// Vector3 expected_v2(0.107462014, -0.46205501, 0.0115624037);
// Pose3 expected_x2(expectedR, expectedT);
// EXPECT(assert_equal(expected_x2, actual_x2, 1e-7));
// EXPECT(assert_equal(Vector(expected_v2), actual_v2, 1e-7));
Values values;
values.insert(X(1), x1);
@ -837,25 +812,12 @@ TEST(ImuFactor, PredictArbitrary) {
Pose3 x1;
Vector3 v1 = Vector3(0, 0, 0);
imuBias::ConstantBias bias(Vector3(0, 0, 0), Vector3(0, 0, 0));
EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none,
measuredAcc, measuredOmega, Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar)));
EXPECT(MonteCarlo(pim, NavState(x1, v1), bias, 0.1, boost::none, measuredAcc, measuredOmega,
Vector3::Constant(accNoiseVar), Vector3::Constant(omegaNoiseVar), 100000));
for (int i = 0; i < 1000; ++i)
pim.integrateMeasurement(measuredAcc, measuredOmega, dt);
// Matrix expected(9,9);
// expected << //
// 0.0299999995, 2.46739898e-10, 2.46739896e-10, -0.0144839494, 0.044978128, 0.0100471195, -0.0409843415, 0.134423822, 0.0383280513, //
// 2.46739898e-10, 0.0299999995, 2.46739902e-10, -0.0454268484, -0.0149428917, 0.00609093775, -0.13554868, -0.0471183681, 0.0247643646, //
// 2.46739896e-10, 2.46739902e-10, 0.0299999995, 0.00489577218, 0.00839301168, 0.000448720395, 0.00879031682, 0.0162199769, 0.00112485862, //
// -0.0144839494, -0.0454268484, 0.00489577218, 0.142448905, 0.00345595825, -0.0225794125, 0.34774305, 0.0119449979, -0.075667905, //
// 0.044978128, -0.0149428917, 0.00839301168, 0.00345595825, 0.143318431, 0.0200549262, 0.0112877167, 0.351503176, 0.0629164907, //
// 0.0100471195, 0.00609093775, 0.000448720395, -0.0225794125, 0.0200549262, 0.0104041905, -0.0580647212, 0.051116506, 0.0285371399, //
// -0.0409843415, -0.13554868, 0.00879031682, 0.34774305, 0.0112877167, -0.0580647212, 0.911721561, 0.0412249672, -0.205920425, //
// 0.134423822, -0.0471183681, 0.0162199769, 0.0119449979, 0.351503176, 0.051116506, 0.0412249672, 0.928013807, 0.169935105, //
// 0.0383280513, 0.0247643646, 0.00112485862, -0.075667905, 0.0629164907, 0.0285371399, -0.205920425, 0.169935105, 0.09407764;
// EXPECT(assert_equal(expected, pim.preintMeasCov(), 1e-7));
// Create factor
ImuFactor factor(X(1), V(1), X(2), V(2), B(1), pim, kGravityAlongNavZDown,
kZeroOmegaCoriolis);