53 lines
1.5 KiB
C++
53 lines
1.5 KiB
C++
/**
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* @file testSimulated2D.cpp
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* @brief Unit tests for simulated 2D measurement functions
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* @author Christian Potthast
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* @author Carlos Nieto
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**/
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#include <iostream>
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#include <CppUnitLite/TestHarness.h>
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#include "numericalDerivative.h"
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#include "simulated2D.h"
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#include "Simulated2DConfig.h"
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using namespace gtsam;
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using namespace std;
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using namespace simulated2D;
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/* ************************************************************************* */
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TEST( simulated2D, Simulated2DConfig )
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{
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Simulated2DConfig actual;
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actual.insertPose(1,Point2(1,1));
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actual.insertPoint(2,Point2(2,2));
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CHECK(assert_equal(actual,actual,1e-9));
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}
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/* ************************************************************************* */
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TEST( simulated2D, Dprior )
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{
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Point2 x(1,-9);
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Matrix numerical = numericalDerivative11(prior,x);
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Matrix computed;
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prior(x,computed);
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CHECK(assert_equal(numerical,computed,1e-9));
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}
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/* ************************************************************************* */
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TEST( simulated2D, DOdo )
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{
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Point2 x1(1,-9),x2(-5,6);
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Matrix H1,H2;
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odo(x1,x2,H1,H2);
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Matrix A1 = numericalDerivative21(odo,x1,x2);
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CHECK(assert_equal(A1,H1,1e-9));
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Matrix A2 = numericalDerivative22(odo,x1,x2);
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CHECK(assert_equal(A2,H2,1e-9));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
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/* ************************************************************************* */
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