246 lines
9.8 KiB
C++
246 lines
9.8 KiB
C++
/**
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* @file testPoseRTV
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* @author Alex Cunningham
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/Testable.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam_unstable/dynamics/PoseRTV.h>
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using namespace gtsam;
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GTSAM_CONCEPT_TESTABLE_INST(PoseRTV)
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GTSAM_CONCEPT_LIE_INST(PoseRTV)
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static const Rot3 rot = Rot3::RzRyRx(0.1, 0.2, 0.3);
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static const Point3 pt(1.0, 2.0, 3.0);
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static const Velocity3 vel(0.4, 0.5, 0.6);
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static const Vector3 kZero3 = Vector3::Zero();
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/* ************************************************************************* */
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TEST( testPoseRTV, constructors ) {
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PoseRTV state1(pt, rot, vel);
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EXPECT(assert_equal(pt, state1.t()));
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EXPECT(assert_equal(rot, state1.R()));
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EXPECT(assert_equal(vel, state1.v()));
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EXPECT(assert_equal(Pose3(rot, pt), state1.pose()));
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PoseRTV state2;
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EXPECT(assert_equal(Point3(), state2.t()));
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EXPECT(assert_equal(Rot3(), state2.R()));
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EXPECT(assert_equal(kZero3, state2.v()));
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EXPECT(assert_equal(Pose3(), state2.pose()));
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PoseRTV state3(Pose3(rot, pt), vel);
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EXPECT(assert_equal(pt, state3.t()));
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EXPECT(assert_equal(rot, state3.R()));
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EXPECT(assert_equal(vel, state3.v()));
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EXPECT(assert_equal(Pose3(rot, pt), state3.pose()));
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PoseRTV state4(Pose3(rot, pt));
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EXPECT(assert_equal(pt, state4.t()));
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EXPECT(assert_equal(rot, state4.R()));
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EXPECT(assert_equal(kZero3, state4.v()));
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EXPECT(assert_equal(Pose3(rot, pt), state4.pose()));
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Vector vec_init = (Vector(9) << 0.1, 0.2, 0.3, 1.0, 2.0, 3.0, 0.4, 0.5, 0.6).finished();
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PoseRTV state5(vec_init);
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EXPECT(assert_equal(pt, state5.t()));
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EXPECT(assert_equal(rot, state5.R()));
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EXPECT(assert_equal(vel, state5.v()));
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EXPECT(assert_equal(vec_init, state5.vector()));
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}
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/* ************************************************************************* */
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TEST( testPoseRTV, dim ) {
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PoseRTV state1(pt, rot, vel);
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EXPECT_LONGS_EQUAL(9, state1.dim());
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EXPECT_LONGS_EQUAL(9, PoseRTV::Dim());
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}
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/* ************************************************************************* */
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TEST( testPoseRTV, equals ) {
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PoseRTV state1, state2(pt, rot, vel), state3(state2), state4(Pose3(rot, pt));
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EXPECT(assert_equal(state1, state1));
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EXPECT(assert_equal(state2, state3));
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EXPECT(assert_equal(state3, state2));
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EXPECT(assert_inequal(state1, state2));
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EXPECT(assert_inequal(state2, state1));
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EXPECT(assert_inequal(state2, state4));
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}
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/* ************************************************************************* */
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TEST( testPoseRTV, Lie ) {
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// origin and zero deltas
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PoseRTV identity;
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EXPECT(assert_equal(identity, (PoseRTV)identity.retract(zero(9))));
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EXPECT(assert_equal(zero(9), identity.localCoordinates(identity)));
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PoseRTV state1(pt, rot, vel);
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EXPECT(assert_equal(state1, (PoseRTV)state1.retract(zero(9))));
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EXPECT(assert_equal(zero(9), state1.localCoordinates(state1)));
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Vector delta(9);
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delta << 0.1, 0.1, 0.1, 0.2, 0.3, 0.4,-0.1,-0.2,-0.3;
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Pose3 pose2 = Pose3(rot, pt).retract(delta.head<6>());
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Velocity3 vel2 = vel + Velocity3(-0.1, -0.2, -0.3);
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PoseRTV state2(pose2.translation(), pose2.rotation(), vel2);
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EXPECT(assert_equal(state2, (PoseRTV)state1.retract(delta)));
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EXPECT(assert_equal(delta, state1.localCoordinates(state2)));
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// roundtrip from state2 to state3 and back
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PoseRTV state3 = state2.retract(delta);
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EXPECT(assert_equal(delta, state2.localCoordinates(state3)));
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// roundtrip from state3 to state4 and back, with expmap.
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PoseRTV state4 = state3.expmap(delta);
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EXPECT(assert_equal(delta, state3.logmap(state4)));
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// For the expmap/logmap (not necessarily retract/local) -delta goes other way
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EXPECT(assert_equal(state3, (PoseRTV)state4.expmap(-delta)));
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EXPECT(assert_equal(delta, -state4.logmap(state3)));
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}
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/* ************************************************************************* */
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TEST( testPoseRTV, dynamics_identities ) {
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// general dynamics should produce the same measurements as the imuPrediction function
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PoseRTV x0, x1, x2, x3, x4;
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const double dt = 0.1;
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Vector accel = Vector3(0.2, 0.0, 0.0), gyro = Vector3(0.0, 0.0, 0.2);
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Vector imu01 = zero(6), imu12 = zero(6), imu23 = zero(6), imu34 = zero(6);
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x1 = x0.generalDynamics(accel, gyro, dt);
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x2 = x1.generalDynamics(accel, gyro, dt);
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x3 = x2.generalDynamics(accel, gyro, dt);
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x4 = x3.generalDynamics(accel, gyro, dt);
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// EXPECT(assert_equal(imu01, x0.imuPrediction(x1, dt).first));
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// EXPECT(assert_equal(imu12, x1.imuPrediction(x2, dt).first));
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// EXPECT(assert_equal(imu23, x2.imuPrediction(x3, dt).first));
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// EXPECT(assert_equal(imu34, x3.imuPrediction(x4, dt).first));
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//
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// EXPECT(assert_equal(x1.translation(), x0.imuPrediction(x1, dt).second));
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// EXPECT(assert_equal(x2.translation(), x1.imuPrediction(x2, dt).second));
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// EXPECT(assert_equal(x3.translation(), x2.imuPrediction(x3, dt).second));
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// EXPECT(assert_equal(x4.translation(), x3.imuPrediction(x4, dt).second));
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}
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/* ************************************************************************* */
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PoseRTV compose_proxy(const PoseRTV& A, const PoseRTV& B) { return A.compose(B); }
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TEST( testPoseRTV, compose ) {
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PoseRTV state1(pt, rot, vel), state2 = state1;
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Matrix actH1, actH2;
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state1.compose(state2, actH1, actH2);
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Matrix numericH1 = numericalDerivative21(compose_proxy, state1, state2);
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Matrix numericH2 = numericalDerivative22(compose_proxy, state1, state2);
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EXPECT(assert_equal(numericH1, actH1));
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EXPECT(assert_equal(numericH2, actH2));
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}
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/* ************************************************************************* */
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PoseRTV between_proxy(const PoseRTV& A, const PoseRTV& B) { return A.between(B); }
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TEST( testPoseRTV, between ) {
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PoseRTV state1(pt, rot, vel), state2 = state1;
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Matrix actH1, actH2;
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state1.between(state2, actH1, actH2);
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Matrix numericH1 = numericalDerivative21(between_proxy, state1, state2);
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Matrix numericH2 = numericalDerivative22(between_proxy, state1, state2);
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EXPECT(assert_equal(numericH1, actH1));
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EXPECT(assert_equal(numericH2, actH2));
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}
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/* ************************************************************************* */
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PoseRTV inverse_proxy(const PoseRTV& A) { return A.inverse(); }
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TEST( testPoseRTV, inverse ) {
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PoseRTV state1(pt, rot, vel);
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Matrix actH1;
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state1.inverse(actH1);
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Matrix numericH1 = numericalDerivative11(inverse_proxy, state1);
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EXPECT(assert_equal(numericH1, actH1));
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}
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/* ************************************************************************* */
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double range_proxy(const PoseRTV& A, const PoseRTV& B) { return A.range(B); }
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TEST( testPoseRTV, range ) {
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Point3 tA(1.0, 2.0, 3.0), tB(3.0, 2.0, 3.0);
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PoseRTV rtvA(tA), rtvB(tB);
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EXPECT_DOUBLES_EQUAL(0.0, rtvA.range(rtvA), 1e-9);
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EXPECT_DOUBLES_EQUAL(2.0, rtvA.range(rtvB), 1e-9);
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EXPECT_DOUBLES_EQUAL(2.0, rtvB.range(rtvA), 1e-9);
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Matrix actH1, actH2;
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rtvA.range(rtvB, actH1, actH2);
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Matrix numericH1 = numericalDerivative21(range_proxy, rtvA, rtvB);
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Matrix numericH2 = numericalDerivative22(range_proxy, rtvA, rtvB);
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EXPECT(assert_equal(numericH1, actH1));
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EXPECT(assert_equal(numericH2, actH2));
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}
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/* ************************************************************************* */
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PoseRTV transformed_from_proxy(const PoseRTV& a, const Pose3& trans) {
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return a.transformed_from(trans);
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}
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TEST( testPoseRTV, transformed_from_1 ) {
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Rot3 R = Rot3::Rodrigues(0.1, 0.2, 0.3);
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Point3 T(1.0, 2.0, 3.0);
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Velocity3 V(2.0, 3.0, 4.0);
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PoseRTV start(R, T, V);
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Pose3 transform(Rot3::yaw(M_PI_2), Point3(1.0, 2.0, 3.0));
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Matrix actDTrans, actDGlobal;
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PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans);
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PoseRTV expected(transform.compose(start.pose()), transform.rotation().matrix() * V);
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EXPECT(assert_equal(expected, actual));
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Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails
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Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size
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EXPECT(assert_equal(numDGlobal, actDGlobal));
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EXPECT(assert_equal(numDTrans, actDTrans, 1e-5)); // FIXME: still needs analytic derivative
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}
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/* ************************************************************************* */
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TEST( testPoseRTV, transformed_from_2 ) {
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Rot3 R;
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Point3 T(1.0, 2.0, 3.0);
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Velocity3 V(2.0, 3.0, 4.0);
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PoseRTV start(R, T, V);
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Pose3 transform(Rot3::yaw(M_PI_2), Point3(1.0, 2.0, 3.0));
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Matrix actDTrans, actDGlobal;
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PoseRTV actual = start.transformed_from(transform, actDGlobal, actDTrans);
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PoseRTV expected(transform.compose(start.pose()), transform.rotation().matrix() * V);
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EXPECT(assert_equal(expected, actual));
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Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails
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Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size
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EXPECT(assert_equal(numDGlobal, actDGlobal));
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EXPECT(assert_equal(numDTrans, actDTrans, 1e-5)); // FIXME: still needs analytic derivative
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}
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/* ************************************************************************* */
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TEST(testPoseRTV, RRTMbn) {
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EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(kZero3)));
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EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMbn(Rot3())));
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EXPECT(assert_equal(PoseRTV::RRTMbn(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMbn(Rot3::ypr(0.1, 0.2, 0.3))));
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}
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/* ************************************************************************* */
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TEST(testPoseRTV, RRTMnb) {
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EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(kZero3)));
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EXPECT(assert_equal(Matrix::Identity(3,3), PoseRTV::RRTMnb(Rot3())));
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EXPECT(assert_equal(PoseRTV::RRTMnb(Vector3(0.3, 0.2, 0.1)), PoseRTV::RRTMnb(Rot3::ypr(0.1, 0.2, 0.3))));
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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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