submaps_test.cc
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1 /*
2  * Copyright 2016 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
18 
19 #include <cmath>
20 
21 #include "gtest/gtest.h"
22 
23 namespace cartographer {
24 namespace mapping {
25 namespace {
26 
27 // Converts the given log odds to a probability. This function is known to be
28 // very slow, because expf is incredibly slow.
29 inline float Expit(float log_odds) {
30  const float exp_log_odds = std::exp(log_odds);
31  return exp_log_odds / (1.f + exp_log_odds);
32 }
33 
34 TEST(SubmapsTest, LogOddsConversions) {
35  EXPECT_NEAR(Expit(Logit(kMinProbability)), kMinProbability, 1e-6);
36  EXPECT_NEAR(Expit(Logit(kMaxProbability)), kMaxProbability, 1e-6);
37  EXPECT_NEAR(Expit(Logit(0.5)), 0.5, 1e-6);
38 }
39 
40 } // namespace
41 } // namespace mapping
42 } // namespace cartographer
constexpr float kMinProbability
constexpr float kMaxProbability
float Logit(float probability)
Definition: submaps.h:37


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autogenerated on Wed Jun 5 2019 21:57:59