test_scan_match_constraints.cpp File Reference

#include <pose_graph/pose_graph.h>
#include <pose_graph/pose_graph_message.h>
#include <graph_slam/constraints/karto_laser_constraints.h>
#include <pose_graph/geometry.h>
#include <pose_graph/transforms.h>
#include <pose_graph/exception.h>
#include <boost/format.hpp>
#include <stdexcept>
#include <string>
#include <pose_graph/spa_conversion.h>
#include <tf/transform_datatypes.h>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include <gtest/gtest.h>
#include <iostream>
#include <boost/assign.hpp>
#include <boost/foreach.hpp>

Include dependency graph for test_scan_match_constraints.cpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Typedefs
typedef std::vector< gs::Chain >	ChainVec
typedef std::map< pg::NodeId, sm::LaserScan >	NodeScanMap
Functions
template<class T >
bool	equalVectors (const vector< T > &v1, const vector< T > &v2)
int	main (int argc, char **argv)
gm::Pose	makePose (const double x, const double y, const double theta=0)
template<class T >
ostream &	operator<< (ostream &str, const vector< T > &s)
	TEST (ScanMatcher, Sequential)
	TEST (ScanMatcher, LoopClosure)
Variables
const double	PI = 3.14159265

---

Detailed Description

Test the scan matcher constraint generation

Author:

Bhaskara Marthi

Definition in file test_scan_match_constraints.cpp.

---

Typedef Documentation

typedef std::vector<gs::Chain> ChainVec

Definition at line 66 of file test_scan_match_constraints.cpp.

typedef std::map<pg::NodeId, sm::LaserScan> NodeScanMap

Definition at line 65 of file test_scan_match_constraints.cpp.

---

Function Documentation

template<class T >

bool equalVectors	(	const vector< T > &	v1,
		const vector< T > &	v2
	)			[inline]

Definition at line 74 of file test_scan_match_constraints.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 214 of file test_scan_match_constraints.cpp.

gm::Pose makePose	(	const double	x,
		const double	y,
		const double	theta = 0
	)

Definition at line 68 of file test_scan_match_constraints.cpp.

template<class T >

ostream& operator<<	(	ostream &	str,
		const vector< T > &	s
	)			[inline]

Definition at line 86 of file test_scan_match_constraints.cpp.

TEST	(	ScanMatcher	,
		Sequential
	)

Definition at line 148 of file test_scan_match_constraints.cpp.

TEST	(	ScanMatcher	,
		LoopClosure
	)

gs::WithOptimizedPoses opt(&matcher, opt_poses); gs::ChainVec chains = matcher.possibleLoopClosures (g, nodes[15], makePose(0.1, 0.1), scan);

gs::Chain c1; c1 += nodes[9], nodes[8], nodes[7], nodes[6], nodes[5], nodes[4], nodes[3], nodes[2]; EXPECT_EQ(1u, chains.size()); EXPECT_PRED2(equalVectors<pg::NodeId>, c1, chains[0]);

Definition at line 93 of file test_scan_match_constraints.cpp.

---

Variable Documentation

const double PI = 3.14159265

Definition at line 63 of file test_scan_match_constraints.cpp.