86 lines
2.6 KiB
C++
86 lines
2.6 KiB
C++
/**
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* @file testBiasedGPSFactor.cpp
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* @brief
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* @author Luca Carlone
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* @date July 30, 2014
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*/
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam_unstable/slam/BiasedGPSFactor.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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// Convenience for named keys
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using symbol_shorthand::X;
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using symbol_shorthand::B;
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TEST(BiasedGPSFactor, errorNoiseless) {
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Rot3 R = Rot3::rodriguez(0.1, 0.2, 0.3);
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Point3 t(1.0, 0.5, 0.2);
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Pose3 pose(R,t);
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Point3 bias(0.0,0.0,0.0);
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Point3 noise(0.0,0.0,0.0);
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Point3 measured = t + noise;
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BiasedGPSFactor factor(X(1), B(1), measured, Isotropic::Sigma(3, 0.05));
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Vector expectedError = (Vector(3) << 0.0, 0.0, 0.0 ).finished();
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Vector actualError = factor.evaluateError(pose,bias);
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EXPECT(assert_equal(expectedError,actualError, 1E-5));
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}
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TEST(BiasedGPSFactor, errorNoisy) {
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Rot3 R = Rot3::rodriguez(0.1, 0.2, 0.3);
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Point3 t(1.0, 0.5, 0.2);
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Pose3 pose(R,t);
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Point3 bias(0.0,0.0,0.0);
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Point3 noise(1.0,2.0,3.0);
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Point3 measured = t - noise;
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BiasedGPSFactor factor(X(1), B(1), measured, Isotropic::Sigma(3, 0.05));
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Vector expectedError = (Vector(3) << 1.0, 2.0, 3.0 ).finished();
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Vector actualError = factor.evaluateError(pose,bias);
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EXPECT(assert_equal(expectedError,actualError, 1E-5));
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}
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TEST(BiasedGPSFactor, jacobian) {
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Rot3 R = Rot3::rodriguez(0.1, 0.2, 0.3);
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Point3 t(1.0, 0.5, 0.2);
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Pose3 pose(R,t);
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Point3 bias(0.0,0.0,0.0);
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Point3 noise(0.0,0.0,0.0);
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Point3 measured = t + noise;
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BiasedGPSFactor factor(X(1), B(1), measured, Isotropic::Sigma(3, 0.05));
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Matrix actualH1, actualH2;
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factor.evaluateError(pose,bias, actualH1, actualH2);
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Matrix numericalH1 = numericalDerivative21(
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boost::function<Vector(const Pose3&, const Point3&)>(boost::bind(
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&BiasedGPSFactor::evaluateError, factor, _1, _2, boost::none,
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boost::none)), pose, bias, 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 Pose3&, const Point3&)>(boost::bind(
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&BiasedGPSFactor::evaluateError, factor, _1, _2, boost::none,
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boost::none)), pose, bias, 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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