51 lines
1.7 KiB
C++
51 lines
1.7 KiB
C++
/**
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* @file testBetweenFactor.cpp
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* @brief
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* @author Duy-Nguyen Ta
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* @date Aug 2, 2013
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*/
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/geometry/Rot3.h>
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#include <gtsam/nonlinear/Symbol.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace gtsam;
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using namespace gtsam::symbol_shorthand;
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using namespace gtsam::noiseModel;
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/* ************************************************************************* */
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TEST(BetweenFactor, Rot3) {
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Rot3 R1 = Rot3::rodriguez(0.1, 0.2, 0.3);
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Rot3 R2 = Rot3::rodriguez(0.4, 0.5, 0.6);
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Rot3 noise = Rot3::rodriguez(0.01, 0.01, 0.01);
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Rot3 measured = R1.between(R2)*noise ;
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BetweenFactor<Rot3> factor(R(1), R(2), measured, Isotropic::Sigma(3, 0.05));
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Matrix actualH1, actualH2;
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Vector actual = factor.evaluateError(R1, R2, actualH1, actualH2);
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Vector expected = Rot3::Logmap(measured.inverse() * R1.between(R2));
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EXPECT(assert_equal(expected,actual, 1e-100));
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Matrix numericalH1 = numericalDerivative21(
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boost::function<Vector(const Rot3&, const Rot3&)>(boost::bind(
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&BetweenFactor<Rot3>::evaluateError, factor, _1, _2, boost::none,
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boost::none)), R1, R2, 1e-5);
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EXPECT(assert_equal(numericalH1,actualH1, 1e-5));
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Matrix numericalH2 = numericalDerivative22(
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boost::function<Vector(const Rot3&, const Rot3&)>(boost::bind(
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&BetweenFactor<Rot3>::evaluateError, factor, _1, _2, boost::none,
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boost::none)), R1, R2, 1e-5);
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EXPECT(assert_equal(numericalH2,actualH2, 1e-5));
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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