130 lines
3.6 KiB
C++
130 lines
3.6 KiB
C++
/**
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* @file testRot2.cpp
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* @brief Unit tests for Rot2 class
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* @author Frank Dellaert
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*/
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#include <CppUnitLite/TestHarness.h>
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#include "numericalDerivative.h"
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#include "Rot2.h"
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using namespace gtsam;
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Rot2 R(0.1);
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Point2 P(0.2, 0.7);
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/* ************************************************************************* */
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TEST( Rot2, angle)
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{
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DOUBLES_EQUAL(0.1,R.theta(),1e-9);
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}
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/* ************************************************************************* */
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TEST( Rot2, transpose)
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{
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CHECK(assert_equal(inverse(R).matrix(),R.transpose()));
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}
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/* ************************************************************************* */
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TEST( Rot2, negtranspose)
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{
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CHECK(assert_equal(-inverse(R).matrix(),R.negtranspose()));
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}
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/* ************************************************************************* */
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TEST( Rot2, compose)
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{
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CHECK(assert_equal(Rot2(0.45), Rot2(0.2)*Rot2(0.25)));
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CHECK(assert_equal(Rot2(0.45), Rot2(0.25)*Rot2(0.2)));
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}
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/* ************************************************************************* */
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TEST( Rot2, invcompose)
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{
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CHECK(assert_equal(Rot2(0.2), invcompose(Rot2(0.25),Rot2(0.45))));
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}
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/* ************************************************************************* */
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TEST( Rot2, equals)
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{
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CHECK(R.equals(R));
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Rot2 zero;
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CHECK(!R.equals(zero));
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}
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/* ************************************************************************* */
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TEST( Rot2, expmap)
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{
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Vector v = zero(1);
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CHECK(assert_equal(expmap(R,v), R));
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}
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/* ************************************************************************* */
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TEST(Rot2, logmap)
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{
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Rot2 rot0(M_PI_2);
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Rot2 rot(M_PI);
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Vector expected = Vector_(1, M_PI_2);
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Vector actual = logmap(rot0, rot);
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CHECK(assert_equal(expected, actual));
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}
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/* ************************************************************************* */
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// rotate and derivatives
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inline Point2 rotate_(const Rot2 & R, const Point2& p) {return R.rotate(p);}
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TEST( Rot2, rotate)
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{
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Matrix H1, H2;
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Point2 actual = rotate(R, P, H1, H2);
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CHECK(assert_equal(actual,R*P));
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Matrix numerical1 = numericalDerivative21(rotate_, R, P);
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CHECK(assert_equal(numerical1,H1));
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Matrix numerical2 = numericalDerivative22(rotate_, R, P);
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CHECK(assert_equal(numerical2,H2));
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}
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/* ************************************************************************* */
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// unrotate and derivatives
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inline Point2 unrotate_(const Rot2 & R, const Point2& p) {return R.unrotate(p);}
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TEST( Rot2, unrotate)
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{
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Matrix H1, H2;
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Point2 w = R * P, actual = unrotate(R, w, H1, H2);
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CHECK(assert_equal(actual,P));
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Matrix numerical1 = numericalDerivative21(unrotate_, R, w);
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CHECK(assert_equal(numerical1,H1));
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Matrix numerical2 = numericalDerivative22(unrotate_, R, w);
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CHECK(assert_equal(numerical2,H2));
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}
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/* ************************************************************************* */
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TEST( Rot2, relativeBearing )
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{
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Point2 l1(1, 0), l2(1, 1);
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Matrix expectedH, actualH;
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// establish relativeBearing is indeed zero
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Rot2 actual1 = relativeBearing(l1, actualH);
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CHECK(assert_equal(Rot2(),actual1));
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// Check numerical derivative
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expectedH = numericalDerivative11(relativeBearing, l1, 1e-5);
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CHECK(assert_equal(expectedH,actualH));
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// establish relativeBearing is indeed 45 degrees
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Rot2 actual2 = relativeBearing(l2, actualH);
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CHECK(assert_equal(Rot2(M_PI_4),actual2));
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// Check numerical derivative
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expectedH = numericalDerivative11(relativeBearing, l2, 1e-5);
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CHECK(assert_equal(expectedH,actualH));
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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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