82 lines
2.6 KiB
C++
82 lines
2.6 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testBearingRange.cpp
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* @brief Unit tests for BearingRange Class
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* @author Frank Dellaert
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* @date July 2015
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*/
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#include <gtsam/geometry/BearingRange.h>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/base/serializationTestHelpers.h>
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#include <CppUnitLite/TestHarness.h>
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using namespace std;
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using namespace gtsam;
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typedef BearingRange<Pose2, Point2> BearingRange2D;
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BearingRange2D br2D(1, 2);
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typedef BearingRange<Pose3, Point3> BearingRange3D;
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BearingRange3D br3D(Pose3().bearing(Point3(1, 0, 0)), 1);
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//******************************************************************************
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TEST(BearingRange2D, Concept) {
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GTSAM_CONCEPT_ASSERT(IsManifold<BearingRange2D>);
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}
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/* ************************************************************************* */
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TEST(BearingRange, 2D) {
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BearingRange2D expected(0, 1);
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BearingRange2D actual = BearingRange2D::Measure(Pose2(), Point2(1, 0));
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EXPECT(assert_equal(expected, actual));
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}
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//******************************************************************************
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TEST(BearingRange3D, Concept) {
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GTSAM_CONCEPT_ASSERT(IsManifold<BearingRange3D>);
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}
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/* ************************************************************************* */
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TEST(BearingRange, 3D) {
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BearingRange3D expected(Unit3(), 1);
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BearingRange3D actual = BearingRange3D::Measure(Pose3(), Point3(1, 0, 0));
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EXPECT(assert_equal(expected, actual));
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}
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#if GTSAM_ENABLE_BOOST_SERIALIZATION
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using namespace serializationTestHelpers;
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/* ************************************************************************* */
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TEST(BearingRange, Serialization2D) {
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EXPECT(equalsObj<BearingRange2D>(br2D));
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EXPECT(equalsXML<BearingRange2D>(br2D));
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EXPECT(equalsBinary<BearingRange2D>(br2D));
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}
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/* ************************************************************************* */
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TEST(BearingRange, Serialization3D) {
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EXPECT(equalsObj<BearingRange3D>(br3D));
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EXPECT(equalsXML<BearingRange3D>(br3D));
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EXPECT(equalsBinary<BearingRange3D>(br3D));
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}
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#endif
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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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