196 lines
6.1 KiB
C++
196 lines
6.1 KiB
C++
/**
|
|
* @file testPose2.cpp
|
|
* @brief Unit tests for Pose2 class
|
|
*/
|
|
|
|
#include <math.h>
|
|
#include <CppUnitLite/TestHarness.h>
|
|
#include <iostream>
|
|
#include "numericalDerivative.h"
|
|
#include "Pose2.h"
|
|
#include "Point2.h"
|
|
#include "Rot2.h"
|
|
|
|
using namespace gtsam;
|
|
using namespace std;
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose2, constructors) {
|
|
//cout << "constructors" << endl;
|
|
Point2 p;
|
|
Pose2 pose(0,p);
|
|
Pose2 origin;
|
|
assert_equal(pose,origin);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose2, manifold) {
|
|
//cout << "manifold" << endl;
|
|
Pose2 t1(M_PI_2, Point2(1, 2));
|
|
Pose2 t2(M_PI_2+0.018, Point2(1.015, 2.01));
|
|
Pose2 origin;
|
|
Vector d12 = logmap(t1,t2);
|
|
CHECK(assert_equal(t2, expmap(t1,d12)));
|
|
CHECK(assert_equal(t2, expmap(origin,d12)*t1));
|
|
Vector d21 = logmap(t2,t1);
|
|
CHECK(assert_equal(t1, expmap(t2,d21)));
|
|
CHECK(assert_equal(t1, expmap(origin,d21)*t2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose2, expmap) {
|
|
//cout << "expmap" << endl;
|
|
Pose2 pose(M_PI_2, Point2(1, 2));
|
|
Pose2 expected(M_PI_2+0.018, Point2(1.015, 2.01));
|
|
Pose2 actual = expmap(pose, Vector_(3, 0.01, -0.015, 0.018));
|
|
CHECK(assert_equal(expected, actual));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose2, expmap0) {
|
|
//cout << "expmap0" << endl;
|
|
Pose2 pose(M_PI_2, Point2(1, 2));
|
|
Pose2 expected(M_PI_2+0.018, Point2(1.015, 2.01));
|
|
Pose2 actual = expmap<Pose2>(Vector_(3, 0.01, -0.015, 0.018)) * pose;
|
|
CHECK(assert_equal(expected, actual));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose2, logmap) {
|
|
//cout << "logmap" << endl;
|
|
Pose2 pose0(M_PI_2, Point2(1, 2));
|
|
Pose2 pose(M_PI_2+0.018, Point2(1.015, 2.01));
|
|
Vector expected = Vector_(3, 0.01, -0.015, 0.018);
|
|
Vector actual = logmap(pose0,pose);
|
|
CHECK(assert_equal(expected, actual));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
//TEST(Pose2, rotate) {
|
|
// std::cout << "rotate\n";
|
|
// double theta = 0.1, c=cos(theta),s=sin(theta);
|
|
// Pose2 p1(1,0,0.2), p2(0,1,0.4);
|
|
// CHECK(assert_equal(Pose2( c,s,0.3),p1.rotate(theta)));
|
|
// CHECK(assert_equal(Pose2(-s,c,0.5),p2.rotate(theta)));
|
|
//}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose2, transform_to )
|
|
{
|
|
//cout << "transform_to" << endl;
|
|
Pose2 pose(M_PI_2, Point2(1,2)); // robot at (1,2) looking towards y
|
|
Point2 point(-1,4); // landmark at (-1,4)
|
|
|
|
// expected
|
|
Point2 expected(2,2);
|
|
// Matrix expectedH1 = Matrix_(2,3, 0.0, -1.0, 2.0, 1.0, 0.0, -2.0);
|
|
// Matrix expectedH2 = Matrix_(2,2, 0.0, 1.0, -1.0, 0.0);
|
|
|
|
// actual
|
|
Point2 actual = transform_to(pose,point);
|
|
Matrix actualH1 = Dtransform_to1(pose,point);
|
|
Matrix actualH2 = Dtransform_to2(pose,point);
|
|
|
|
CHECK(assert_equal(expected,actual));
|
|
// CHECK(assert_equal(expectedH1,actualH1));
|
|
// CHECK(assert_equal(expectedH2,actualH2));
|
|
|
|
Matrix numericalH1 = numericalDerivative21(transform_to, pose, point, 1e-5);
|
|
CHECK(assert_equal(numericalH1,actualH1));
|
|
|
|
Matrix numericalH2 = numericalDerivative22(transform_to, pose, point, 1e-5);
|
|
CHECK(assert_equal(numericalH2,actualH2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose2, compose_a)
|
|
{
|
|
//cout << "compose_a" << endl;
|
|
Pose2 pose1(M_PI/4.0, Point2(sqrt(0.5), sqrt(0.5)));
|
|
Pose2 pose2(M_PI/2.0, Point2(0.0, 2.0));
|
|
|
|
Pose2 expected(3.0*M_PI/4.0, Point2(-sqrt(0.5), 3.0*sqrt(0.5)));
|
|
Pose2 actual = pose2 * pose1;
|
|
CHECK(assert_equal(expected, actual));
|
|
|
|
Point2 point(sqrt(0.5), 3.0*sqrt(0.5));
|
|
Point2 expected_point(-1.0, -1.0);
|
|
Point2 actual_point1 = transform_to(pose2 * pose1, point);
|
|
Point2 actual_point2 = transform_to(pose2, transform_to(pose1, point));
|
|
CHECK(assert_equal(expected_point, actual_point1));
|
|
CHECK(assert_equal(expected_point, actual_point2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose2, compose_b)
|
|
{
|
|
//cout << "compose_b" << endl;
|
|
Pose2 pose1(Rot2(M_PI/10.0), Point2(.75, .5));
|
|
Pose2 pose2(Rot2(M_PI/4.0-M_PI/10.0), Point2(0.701289620636, 1.34933052585));
|
|
|
|
Pose2 pose_expected(Rot2(M_PI/4.0), Point2(1.0, 2.0));
|
|
|
|
Pose2 pose_actual_op = pose2 * pose1;
|
|
Pose2 pose_actual_fcn = compose(pose2,pose1);
|
|
|
|
CHECK(assert_equal(pose_expected, pose_actual_op));
|
|
CHECK(assert_equal(pose_expected, pose_actual_fcn));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST(Pose2, compose_c)
|
|
{
|
|
//cout << "compose_c" << endl;
|
|
Pose2 pose1(Rot2(M_PI/4.0), Point2(1.0, 1.0));
|
|
Pose2 pose2(Rot2(M_PI/4.0), Point2(sqrt(.5), sqrt(.5)));
|
|
|
|
Pose2 pose_expected(Rot2(M_PI/2.0), Point2(1.0, 2.0));
|
|
|
|
Pose2 pose_actual_op = pose2 * pose1;
|
|
Pose2 pose_actual_fcn = compose(pose2,pose1);
|
|
|
|
CHECK(assert_equal(pose_expected, pose_actual_op));
|
|
CHECK(assert_equal(pose_expected, pose_actual_fcn));
|
|
}
|
|
|
|
|
|
/* ************************************************************************* */
|
|
TEST( Pose2, between )
|
|
{
|
|
//cout << "between" << endl;
|
|
Pose2 p1(M_PI_2, Point2(1,2)); // robot at (1,2) looking towards y
|
|
Pose2 p2(M_PI, Point2(-1,4)); // robot at (-1,4) loooking at negative x
|
|
|
|
Pose2 expected(M_PI_2, Point2(2,2));
|
|
Pose2 actual = between(p1,p2);
|
|
CHECK(assert_equal(expected,actual));
|
|
|
|
Matrix expectedH1 = Matrix_(3,3,
|
|
0.0,-1.0,-2.0,
|
|
1.0, 0.0,-2.0,
|
|
0.0, 0.0,-1.0
|
|
);
|
|
Matrix numericalH1 = numericalDerivative21(between<Pose2>, p1, p2, 1e-5);
|
|
Matrix actualH1 = Dbetween1(p1,p2);
|
|
CHECK(assert_equal(expectedH1,actualH1));
|
|
CHECK(assert_equal(numericalH1,actualH1));
|
|
|
|
Matrix expectedH2 = Matrix_(3,3,
|
|
1.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0
|
|
);
|
|
Matrix numericalH2 = numericalDerivative22(between<Pose2>, p1, p2, 1e-5);
|
|
Matrix actualH2 = Dbetween2(p1,p2);
|
|
CHECK(assert_equal(expectedH2,actualH2));
|
|
CHECK(assert_equal(numericalH2,actualH2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() {
|
|
TestResult tr;
|
|
return TestRegistry::runAllTests(tr);
|
|
}
|
|
/* ************************************************************************* */
|
|
|