628 lines
17 KiB
C++
628 lines
17 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testTupleValues.cpp
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* @author Richard Roberts
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* @author Alex Cunningham
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <stdexcept>
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#include <gtsam/base/TestableAssertions.h>
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// Magically casts strings like "x3" to a Symbol('x',3) key, see Key.h
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#define GTSAM_MAGIC_KEY
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/geometry/Point3.h>
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#include <gtsam/base/Vector.h>
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#include <gtsam/nonlinear/Key.h>
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#include <gtsam/nonlinear/TupleValues.h>
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using namespace gtsam;
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using namespace std;
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static const double tol = 1e-5;
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typedef TypedSymbol<Pose2, 'x'> PoseKey;
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typedef TypedSymbol<Point2, 'l'> PointKey;
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typedef Values<PoseKey> PoseValues;
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typedef Values<PointKey> PointValues;
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typedef TupleValues2<PoseValues, PointValues> TestValues;
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/* ************************************************************************* */
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TEST( TupleValues, constructors )
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{
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Pose2 x1(1,2,3), x2(6,7,8);
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Point2 l1(4,5), l2(9,10);
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TestValues::Values1 cfg1;
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cfg1.insert(PoseKey(1), x1);
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cfg1.insert(PoseKey(2), x2);
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TestValues::Values2 cfg2;
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cfg2.insert(PointKey(1), l1);
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cfg2.insert(PointKey(2), l2);
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TestValues actual(cfg1, cfg2), expected;
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expected.insert(PoseKey(1), x1);
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expected.insert(PoseKey(2), x2);
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expected.insert(PointKey(1), l1);
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expected.insert(PointKey(2), l2);
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CHECK(assert_equal(expected, actual));
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}
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/* ************************************************************************* */
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TEST( TupleValues, insert_equals1 )
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{
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Pose2 x1(1,2,3), x2(6,7,8);
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Point2 l1(4,5), l2(9,10);
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TestValues expected;
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expected.insert(PoseKey(1), x1);
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expected.insert(PoseKey(2), x2);
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expected.insert(PointKey(1), l1);
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expected.insert(PointKey(2), l2);
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TestValues actual;
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actual.insert(PoseKey(1), x1);
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actual.insert(PoseKey(2), x2);
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actual.insert(PointKey(1), l1);
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actual.insert(PointKey(2), l2);
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CHECK(assert_equal(expected,actual));
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}
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/* ************************************************************************* */
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TEST( TupleValues, insert_equals2 )
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{
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Pose2 x1(1,2,3), x2(6,7,8);
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Point2 l1(4,5), l2(9,10);
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TestValues values1;
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values1.insert(PoseKey(1), x1);
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values1.insert(PoseKey(2), x2);
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values1.insert(PointKey(1), l1);
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values1.insert(PointKey(2), l2);
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TestValues values2;
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values2.insert(PoseKey(1), x1);
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values2.insert(PoseKey(2), x2);
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values2.insert(PointKey(1), l1);
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CHECK(!values1.equals(values2));
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values2.insert(2, Point2(9,11));
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CHECK(!values1.equals(values2));
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}
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/* ************************************************************************* */
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TEST( TupleValues, insert_duplicate )
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{
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Pose2 x1(1,2,3), x2(6,7,8);
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Point2 l1(4,5), l2(9,10);
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TestValues values1;
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values1.insert(1, x1); // 3
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values1.insert(2, x2); // 6
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values1.insert(1, l1); // 8
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values1.insert(2, l2); // 10
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CHECK_EXCEPTION(values1.insert(2, l1), KeyAlreadyExists<PointKey>); // still 10 !!!!
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}
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/* ************************************************************************* */
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TEST( TupleValues, size_dim )
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{
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Pose2 x1(1,2,3), x2(6,7,8);
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Point2 l1(4,5), l2(9,10);
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TestValues values1;
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values1.insert(PoseKey(1), x1);
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values1.insert(PoseKey(2), x2);
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values1.insert(PointKey(1), l1);
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values1.insert(PointKey(2), l2);
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EXPECT(values1.size() == 4);
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EXPECT(values1.dim() == 10);
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}
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/* ************************************************************************* */
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TEST(TupleValues, at)
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{
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Pose2 x1(1,2,3), x2(6,7,8);
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Point2 l1(4,5), l2(9,10);
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TestValues values1;
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values1.insert(PoseKey(1), x1);
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values1.insert(PoseKey(2), x2);
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values1.insert(PointKey(1), l1);
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values1.insert(PointKey(2), l2);
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EXPECT(assert_equal(x1, values1[PoseKey(1)]));
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EXPECT(assert_equal(x2, values1[PoseKey(2)]));
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EXPECT(assert_equal(l1, values1[PointKey(1)]));
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EXPECT(assert_equal(l2, values1[PointKey(2)]));
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CHECK_EXCEPTION(values1[PoseKey(3)], KeyDoesNotExist<PoseKey>);
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CHECK_EXCEPTION(values1[PointKey(3)], KeyDoesNotExist<PointKey>);
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}
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/* ************************************************************************* */
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TEST(TupleValues, zero_expmap_logmap)
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{
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Pose2 x1(1,2,3), x2(6,7,8);
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Point2 l1(4,5), l2(9,10);
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TestValues values1;
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values1.insert(PoseKey(1), x1);
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values1.insert(PoseKey(2), x2);
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values1.insert(PointKey(1), l1);
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values1.insert(PointKey(2), l2);
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Ordering o; o += "x1", "x2", "l1", "l2";
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VectorValues expected_zero(values1.dims(o));
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expected_zero[o["x1"]] = zero(3);
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expected_zero[o["x2"]] = zero(3);
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expected_zero[o["l1"]] = zero(2);
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expected_zero[o["l2"]] = zero(2);
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CHECK(assert_equal(expected_zero, values1.zero(o)));
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VectorValues delta(values1.dims(o));
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delta[o["x1"]] = Vector_(3, 1.0, 1.1, 1.2);
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delta[o["x2"]] = Vector_(3, 1.3, 1.4, 1.5);
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delta[o["l1"]] = Vector_(2, 1.0, 1.1);
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delta[o["l2"]] = Vector_(2, 1.3, 1.4);
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TestValues expected;
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expected.insert(PoseKey(1), x1.retract(Vector_(3, 1.0, 1.1, 1.2)));
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expected.insert(PoseKey(2), x2.retract(Vector_(3, 1.3, 1.4, 1.5)));
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expected.insert(PointKey(1), Point2(5.0, 6.1));
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expected.insert(PointKey(2), Point2(10.3, 11.4));
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TestValues actual = values1.retract(delta, o);
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CHECK(assert_equal(expected, actual));
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// Check log
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VectorValues expected_log = delta;
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VectorValues actual_log = values1.localCoordinates(actual, o);
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CHECK(assert_equal(expected_log, actual_log));
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}
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/* ************************************************************************* */
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// some key types
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typedef TypedSymbol<LieVector, 'L'> LamKey;
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typedef TypedSymbol<Pose3, 'a'> Pose3Key;
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typedef TypedSymbol<Point3, 'b'> Point3Key;
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typedef TypedSymbol<Point3, 'c'> Point3Key2;
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// some values types
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typedef Values<PoseKey> PoseValues;
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typedef Values<PointKey> PointValues;
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typedef Values<LamKey> LamValues;
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typedef Values<Pose3Key> Pose3Values;
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typedef Values<Point3Key> Point3Values;
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typedef Values<Point3Key2> Point3Values2;
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// some TupleValues types
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typedef TupleValues<PoseValues, TupleValuesEnd<PointValues> > ValuesA;
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typedef TupleValues<PoseValues, TupleValues<PointValues, TupleValuesEnd<LamValues> > > ValuesB;
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typedef TupleValues1<PoseValues> TuplePoseValues;
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typedef TupleValues1<PointValues> TuplePointValues;
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typedef TupleValues2<PoseValues, PointValues> SimpleValues;
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/* ************************************************************************* */
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TEST(TupleValues, slicing) {
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PointKey l1(1), l2(2);
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Point2 l1_val(1.0, 2.0), l2_val(3.0, 4.0);
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PoseKey x1(1), x2(2);
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Pose2 x1_val(1.0, 2.0, 0.3), x2_val(3.0, 4.0, 0.4);
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PoseValues liePoseValues;
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liePoseValues.insert(x1, x1_val);
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liePoseValues.insert(x2, x2_val);
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PointValues liePointValues;
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liePointValues.insert(l1, l1_val);
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liePointValues.insert(l2, l2_val);
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// construct TupleValues1 from the base values
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TuplePoseValues tupPoseValues1(liePoseValues);
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EXPECT(assert_equal(liePoseValues, tupPoseValues1.first(), tol));
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TuplePointValues tupPointValues1(liePointValues);
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EXPECT(assert_equal(liePointValues, tupPointValues1.first(), tol));
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// // construct a TupleValues2 from a TupleValues1
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// SimpleValues pairValues1(tupPoseValues1);
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// EXPECT(assert_equal(liePoseValues, pairValues1.first(), tol));
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// EXPECT(pairValues1.second().empty());
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//
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// SimpleValues pairValues2(tupPointValues1);
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// EXPECT(assert_equal(liePointValues, pairValues2.second(), tol));
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// EXPECT(pairValues1.first().empty());
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}
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/* ************************************************************************* */
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TEST(TupleValues, basic_functions) {
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// create some tuple values
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ValuesA valuesA;
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ValuesB valuesB;
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PoseKey x1(1);
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PointKey l1(1);
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LamKey L1(1);
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Pose2 pose1(1.0, 2.0, 0.3);
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Point2 point1(2.0, 3.0);
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LieVector lam1 = LieVector(2.3);
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// Insert
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valuesA.insert(x1, pose1);
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valuesA.insert(l1, point1);
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valuesB.insert(x1, pose1);
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valuesB.insert(l1, point1);
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valuesB.insert(L1, lam1);
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// bracket operator
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EXPECT(assert_equal(valuesA[x1], pose1));
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EXPECT(assert_equal(valuesA[l1], point1));
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EXPECT(assert_equal(valuesB[x1], pose1));
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EXPECT(assert_equal(valuesB[l1], point1));
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EXPECT(assert_equal(valuesB[L1], lam1));
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// exists
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EXPECT(valuesA.exists(x1));
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EXPECT(valuesA.exists(l1));
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EXPECT(valuesB.exists(x1));
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EXPECT(valuesB.exists(l1));
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EXPECT(valuesB.exists(L1));
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// at
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EXPECT(assert_equal(valuesA.at(x1), pose1));
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EXPECT(assert_equal(valuesA.at(l1), point1));
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EXPECT(assert_equal(valuesB.at(x1), pose1));
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EXPECT(assert_equal(valuesB.at(l1), point1));
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EXPECT(assert_equal(valuesB.at(L1), lam1));
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// size
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EXPECT(valuesA.size() == 2);
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EXPECT(valuesB.size() == 3);
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// dim
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EXPECT(valuesA.dim() == 5);
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EXPECT(valuesB.dim() == 6);
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// erase
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valuesA.erase(x1);
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CHECK(!valuesA.exists(x1));
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CHECK(valuesA.size() == 1);
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valuesA.erase(l1);
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CHECK(!valuesA.exists(l1));
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CHECK(valuesA.size() == 0);
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valuesB.erase(L1);
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CHECK(!valuesB.exists(L1));
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CHECK(valuesB.size() == 2);
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// clear
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valuesA.clear();
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EXPECT(valuesA.size() == 0);
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valuesB.clear();
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EXPECT(valuesB.size() == 0);
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// empty
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EXPECT(valuesA.empty());
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EXPECT(valuesB.empty());
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}
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/* ************************************************************************* */
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TEST(TupleValues, insert_values) {
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ValuesB values1, values2, expected;
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PoseKey x1(1), x2(2);
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PointKey l1(1), l2(2);
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LamKey L1(1), L2(2);
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Pose2 pose1(1.0, 2.0, 0.3), pose2(3.0, 4.0, 5.0);
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Point2 point1(2.0, 3.0), point2(5.0, 6.0);
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LieVector lam1 = LieVector(2.3), lam2 = LieVector(4.5);
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values1.insert(x1, pose1);
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values1.insert(l1, point1);
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values1.insert(L1, lam1);
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values2.insert(x2, pose2);
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values2.insert(l2, point2);
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values2.insert(L2, lam2);
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values1.insert(values2);
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expected.insert(x1, pose1);
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expected.insert(l1, point1);
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expected.insert(L1, lam1);
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expected.insert(x2, pose2);
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expected.insert(l2, point2);
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expected.insert(L2, lam2);
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CHECK(assert_equal(expected, values1));
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}
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/* ************************************************************************* */
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TEST( TupleValues, update_element )
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{
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TupleValues2<PoseValues, PointValues> cfg;
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Pose2 x1(2.0, 1.0, 2.0), x2(3.0, 4.0, 5.0);
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Point2 l1(1.0, 2.0), l2(3.0, 4.0);
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PoseKey xk(1);
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PointKey lk(1);
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cfg.insert(xk, x1);
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CHECK(cfg.size() == 1);
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CHECK(assert_equal(x1, cfg.at(xk)));
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cfg.update(xk, x2);
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CHECK(cfg.size() == 1);
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CHECK(assert_equal(x2, cfg.at(xk)));
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cfg.insert(lk, l1);
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CHECK(cfg.size() == 2);
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CHECK(assert_equal(l1, cfg.at(lk)));
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cfg.update(lk, l2);
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CHECK(cfg.size() == 2);
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CHECK(assert_equal(l2, cfg.at(lk)));
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}
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/* ************************************************************************* */
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TEST( TupleValues, equals )
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{
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Pose2 x1(1,2,3), x2(6,7,8), x2_alt(5,6,7);
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PoseKey x1k(1), x2k(2);
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Point2 l1(4,5), l2(9,10);
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PointKey l1k(1), l2k(2);
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ValuesA values1, values2, values3, values4, values5;
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values1.insert(x1k, x1);
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values1.insert(x2k, x2);
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values1.insert(l1k, l1);
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values1.insert(l2k, l2);
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values2.insert(x1k, x1);
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values2.insert(x2k, x2);
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values2.insert(l1k, l1);
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values2.insert(l2k, l2);
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values3.insert(x2k, x2);
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values3.insert(l1k, l1);
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values4.insert(x1k, x1);
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values4.insert(x2k, x2_alt);
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values4.insert(l1k, l1);
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values4.insert(l2k, l2);
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ValuesA values6(values1);
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EXPECT(assert_equal(values1,values2));
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EXPECT(assert_equal(values1,values1));
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EXPECT(assert_inequal(values1,values3));
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EXPECT(assert_inequal(values1,values4));
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EXPECT(assert_inequal(values1,values5));
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EXPECT(assert_equal(values1, values6));
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}
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/* ************************************************************************* */
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TEST(TupleValues, expmap)
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{
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Pose2 x1(1,2,3), x2(6,7,8);
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PoseKey x1k(1), x2k(2);
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Point2 l1(4,5), l2(9,10);
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PointKey l1k(1), l2k(2);
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Ordering o; o += "x1", "x2", "l1", "l2";
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ValuesA values1;
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values1.insert(x1k, x1);
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values1.insert(x2k, x2);
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values1.insert(l1k, l1);
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values1.insert(l2k, l2);
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VectorValues delta(values1.dims(o));
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delta[o["x1"]] = Vector_(3, 1.0, 1.1, 1.2);
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delta[o["x2"]] = Vector_(3, 1.3, 1.4, 1.5);
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delta[o["l1"]] = Vector_(2, 1.0, 1.1);
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delta[o["l2"]] = Vector_(2, 1.3, 1.4);
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ValuesA expected;
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expected.insert(x1k, x1.retract(Vector_(3, 1.0, 1.1, 1.2)));
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expected.insert(x2k, x2.retract(Vector_(3, 1.3, 1.4, 1.5)));
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expected.insert(l1k, Point2(5.0, 6.1));
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expected.insert(l2k, Point2(10.3, 11.4));
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CHECK(assert_equal(expected, values1.retract(delta, o)));
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CHECK(assert_equal(delta, values1.localCoordinates(expected, o)));
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}
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/* ************************************************************************* */
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TEST(TupleValues, expmap_typedefs)
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{
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Pose2 x1(1,2,3), x2(6,7,8);
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PoseKey x1k(1), x2k(2);
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Point2 l1(4,5), l2(9,10);
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PointKey l1k(1), l2k(2);
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Ordering o; o += "x1", "x2", "l1", "l2";
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TupleValues2<PoseValues, PointValues> values1, expected, actual;
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values1.insert(x1k, x1);
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values1.insert(x2k, x2);
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values1.insert(l1k, l1);
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values1.insert(l2k, l2);
|
|
|
|
VectorValues delta(values1.dims(o));
|
|
delta[o["x1"]] = Vector_(3, 1.0, 1.1, 1.2);
|
|
delta[o["x2"]] = Vector_(3, 1.3, 1.4, 1.5);
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|
delta[o["l1"]] = Vector_(2, 1.0, 1.1);
|
|
delta[o["l2"]] = Vector_(2, 1.3, 1.4);
|
|
|
|
expected.insert(x1k, x1.retract(Vector_(3, 1.0, 1.1, 1.2)));
|
|
expected.insert(x2k, x2.retract(Vector_(3, 1.3, 1.4, 1.5)));
|
|
expected.insert(l1k, Point2(5.0, 6.1));
|
|
expected.insert(l2k, Point2(10.3, 11.4));
|
|
|
|
CHECK(assert_equal(expected, TupleValues2<PoseValues, PointValues>(values1.retract(delta, o))));
|
|
//CHECK(assert_equal(delta, values1.localCoordinates(expected)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleValues, typedefs)
|
|
{
|
|
TupleValues2<PoseValues, PointValues> values1;
|
|
TupleValues3<PoseValues, PointValues, LamValues> values2;
|
|
TupleValues4<PoseValues, PointValues, LamValues, Point3Values> values3;
|
|
TupleValues5<PoseValues, PointValues, LamValues, Point3Values, Pose3Values> values4;
|
|
TupleValues6<PoseValues, PointValues, LamValues, Point3Values, Pose3Values, Point3Values2> values5;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( TupleValues, pairvalues_style )
|
|
{
|
|
PoseKey x1(1);
|
|
PointKey l1(1);
|
|
LamKey L1(1);
|
|
Pose2 pose1(1.0, 2.0, 0.3);
|
|
Point2 point1(2.0, 3.0);
|
|
LieVector lam1 = LieVector(2.3);
|
|
|
|
PoseValues values1; values1.insert(x1, pose1);
|
|
PointValues values2; values2.insert(l1, point1);
|
|
LamValues values3; values3.insert(L1, lam1);
|
|
|
|
// Constructor
|
|
TupleValues3<PoseValues, PointValues, LamValues> values(values1, values2, values3);
|
|
|
|
// access
|
|
CHECK(assert_equal(values1, values.first()));
|
|
CHECK(assert_equal(values2, values.second()));
|
|
CHECK(assert_equal(values3, values.third()));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleValues, insert_values_typedef) {
|
|
|
|
TupleValues4<PoseValues, PointValues, LamValues, Point3Values> values1, values2, expected;
|
|
|
|
PoseKey x1(1), x2(2);
|
|
PointKey l1(1), l2(2);
|
|
LamKey L1(1), L2(2);
|
|
Pose2 pose1(1.0, 2.0, 0.3), pose2(3.0, 4.0, 5.0);
|
|
Point2 point1(2.0, 3.0), point2(5.0, 6.0);
|
|
LieVector lam1 = LieVector(2.3), lam2 = LieVector(4.5);
|
|
|
|
values1.insert(x1, pose1);
|
|
values1.insert(l1, point1);
|
|
values1.insert(L1, lam1);
|
|
|
|
values2.insert(x2, pose2);
|
|
values2.insert(l2, point2);
|
|
values2.insert(L2, lam2);
|
|
|
|
values1.insert(values2);
|
|
|
|
expected.insert(x1, pose1);
|
|
expected.insert(l1, point1);
|
|
expected.insert(L1, lam1);
|
|
expected.insert(x2, pose2);
|
|
expected.insert(l2, point2);
|
|
expected.insert(L2, lam2);
|
|
|
|
CHECK(assert_equal(expected, values1));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleValues, partial_insert) {
|
|
TupleValues3<PoseValues, PointValues, LamValues> init, expected;
|
|
|
|
PoseKey x1(1), x2(2);
|
|
PointKey l1(1), l2(2);
|
|
LamKey L1(1), L2(2);
|
|
Pose2 pose1(1.0, 2.0, 0.3), pose2(3.0, 4.0, 5.0);
|
|
Point2 point1(2.0, 3.0), point2(5.0, 6.0);
|
|
LieVector lam1 = LieVector(2.3), lam2 = LieVector(4.5);
|
|
|
|
init.insert(x1, pose1);
|
|
init.insert(l1, point1);
|
|
init.insert(L1, lam1);
|
|
|
|
PoseValues cfg1;
|
|
cfg1.insert(x2, pose2);
|
|
|
|
init.insertSub(cfg1);
|
|
|
|
expected.insert(x1, pose1);
|
|
expected.insert(l1, point1);
|
|
expected.insert(L1, lam1);
|
|
expected.insert(x2, pose2);
|
|
|
|
CHECK(assert_equal(expected, init));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleValues, update) {
|
|
TupleValues3<PoseValues, PointValues, LamValues> init, superset, expected;
|
|
|
|
PoseKey x1(1), x2(2);
|
|
PointKey l1(1), l2(2);
|
|
Pose2 pose1(1.0, 2.0, 0.3), pose2(3.0, 4.0, 5.0);
|
|
Point2 point1(2.0, 3.0), point2(5.0, 6.0);
|
|
|
|
init.insert(x1, pose1);
|
|
init.insert(l1, point1);
|
|
|
|
|
|
Pose2 pose1_(1.0, 2.0, 0.4);
|
|
Point2 point1_(2.0, 4.0);
|
|
superset.insert(x1, pose1_);
|
|
superset.insert(l1, point1_);
|
|
superset.insert(x2, pose2);
|
|
superset.insert(l2, point2);
|
|
init.update(superset);
|
|
|
|
expected.insert(x1, pose1_);
|
|
expected.insert(l1, point1_);
|
|
|
|
CHECK(assert_equal(expected, init));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(TupleValues, arbitrary_ordering ) {
|
|
TupleValues1<PoseValues> values;
|
|
PoseKey x1(1), x2(2);
|
|
Pose2 pose1(1.0, 2.0, 0.3), pose2(3.0, 4.0, 5.0);
|
|
values.insert(x1, pose1);
|
|
values.insert(x2, pose2);
|
|
Ordering::shared_ptr actual = values.orderingArbitrary();
|
|
Ordering expected; expected += x1, x2;
|
|
EXPECT(assert_equal(expected, *actual));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
|
/* ************************************************************************* */
|