testPose3Upright.cpp
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1 
8 #include <CppUnitLite/TestHarness.h>
9 
10 #include <gtsam/base/TestableAssertions.h>
11 #include <gtsam/base/numericalDerivative.h>
12 
13 #include <gtsam_unstable/geometry/Pose3Upright.h>
14 
15 using namespace gtsam;
16 
17 static const double tol = 1e-5;
18 
19 /* ************************************************************************* */
20 TEST( testPose3Upright, basics ) {
21  Pose3Upright origin;
22  EXPECT_DOUBLES_EQUAL(0.0, origin.x(), tol);
23  EXPECT_DOUBLES_EQUAL(0.0, origin.y(), tol);
24  EXPECT_DOUBLES_EQUAL(0.0, origin.z(), tol);
25  EXPECT_DOUBLES_EQUAL(0.0, origin.theta(), tol);
26 
27  Pose3Upright actual1(Rot2::fromAngle(0.1), Point3(1.0, 2.0, 3.0));
28  EXPECT_DOUBLES_EQUAL(1.0, actual1.x(), tol);
29  EXPECT_DOUBLES_EQUAL(2.0, actual1.y(), tol);
30  EXPECT_DOUBLES_EQUAL(3.0, actual1.z(), tol);
31  EXPECT_DOUBLES_EQUAL(0.1, actual1.theta(), tol);
32 
33  Pose3Upright actual2(1.0, 2.0, 3.0, 0.1);
34  EXPECT_DOUBLES_EQUAL(1.0, actual2.x(), tol);
35  EXPECT_DOUBLES_EQUAL(2.0, actual2.y(), tol);
36  EXPECT_DOUBLES_EQUAL(3.0, actual2.z(), tol);
37  EXPECT_DOUBLES_EQUAL(0.1, actual2.theta(), tol);
38 }
39 
40 /* ************************************************************************* */
41 TEST( testPose3Upright, equals ) {
42  Pose3Upright origin, actual1(1.0, 2.0, 3.0, 0.1),
43  actual2(1.0, 2.0, 3.0, 0.1), actual3(4.0,-7.0, 3.0, 0.3);
44  EXPECT(assert_equal(origin, origin, tol));
45  EXPECT(assert_equal(actual1, actual1, tol));
46  EXPECT(assert_equal(actual1, actual2, tol));
47  EXPECT(assert_equal(actual2, actual1, tol));
48 
49  EXPECT(assert_inequal(actual1, actual3, tol));
50  EXPECT(assert_inequal(actual3, actual1, tol));
51  EXPECT(assert_inequal(actual1, origin, tol));
52  EXPECT(assert_inequal(origin, actual1, tol));
53 }
54 
55 /* ************************************************************************* */
56 TEST( testPose3Upright, conversions ) {
57  Pose3Upright pose(1.0, 2.0, 3.0, 0.1);
58  EXPECT(assert_equal(Point3(1.0, 2.0, 3.0), pose.translation(), tol));
59  EXPECT(assert_equal(Point2(1.0, 2.0), pose.translation2(), tol));
60  EXPECT(assert_equal(Rot2::fromAngle(0.1), pose.rotation2(), tol));
61  EXPECT(assert_equal(Rot3::Yaw(0.1), pose.rotation(), tol));
62  EXPECT(assert_equal(Pose2(1.0, 2.0, 0.1), pose.pose2(), tol));
63  EXPECT(assert_equal(Pose3(Rot3::Yaw(0.1), Point3(1.0, 2.0, 3.0)), pose.pose(), tol));
64 }
65 
66 /* ************************************************************************* */
67 TEST( testPose3Upright, manifold ) {
68  Pose3Upright origin, x1(1.0, 2.0, 3.0, 0.0), x2(4.0, 2.0, 7.0, 0.0);
69  EXPECT_LONGS_EQUAL(4, origin.dim());
70 
71  EXPECT(assert_equal(origin, origin.retract(Z_4x1), tol));
72  EXPECT(assert_equal(x1, x1.retract(Z_4x1), tol));
73  EXPECT(assert_equal(x2, x2.retract(Z_4x1), tol));
74 
75  Vector delta12 = (Vector(4) << 3.0, 0.0, 4.0, 0.0).finished(), delta21 = -delta12;
76  EXPECT(assert_equal(x2, x1.retract(delta12), tol));
77  EXPECT(assert_equal(x1, x2.retract(delta21), tol));
78 
79  EXPECT(assert_equal(delta12, x1.localCoordinates(x2), tol));
80  EXPECT(assert_equal(delta21, x2.localCoordinates(x1), tol));
81 }
82 
83 /* ************************************************************************* */
84 TEST( testPose3Upright, lie ) {
85  Pose3Upright origin, x1(1.0, 2.0, 3.0, 0.1);
86  EXPECT(assert_equal(Z_4x1, Pose3Upright::Logmap(origin), tol));
87  EXPECT(assert_equal(origin, Pose3Upright::Expmap(Z_4x1), tol));
88 
89  EXPECT(assert_equal(x1, Pose3Upright::Expmap(Pose3Upright::Logmap(x1)), tol));
90 }
91 
92 /* ************************************************************************* */
93 Pose3Upright between_proxy(const Pose3Upright& x1, const Pose3Upright& x2) { return x1.between(x2); }
94 TEST( testPose3Upright, between ) {
95  Pose3Upright x1(1.0, 2.0, 3.0, 0.1), x2(4.0,-2.0, 7.0, 0.3);
96  Pose3Upright expected(x1.pose2().between(x2.pose2()), x2.z() - x1.z());
97  EXPECT(assert_equal(expected, x1.between(x2), tol));
98 
99  Matrix actualH1, actualH2, numericH1, numericH2;
100  x1.between(x2, actualH1, actualH2);
101  numericH1 = numericalDerivative21(between_proxy, x1, x2, 1e-5);
102  numericH2 = numericalDerivative22(between_proxy, x1, x2, 1e-5);
103  EXPECT(assert_equal(numericH1, actualH1, tol));
104  EXPECT(assert_equal(numericH2, actualH2, tol));
105 }
106 
107 /* ************************************************************************* */
108 Pose3Upright compose_proxy(const Pose3Upright& x1, const Pose3Upright& x2) { return x1.compose(x2); }
109 TEST( testPose3Upright, compose ) {
110  Pose3Upright x1(1.0, 2.0, 3.0, 0.1), x2(4.0,-2.0, 7.0, 0.3);
111  Pose3Upright expected(x1.pose2().between(x2.pose2()), x2.z() - x1.z());
112  EXPECT(assert_equal(x2, x1.compose(expected), tol));
113 
114  Matrix actualH1, actualH2, numericH1, numericH2;
115  x1.compose(expected, actualH1, actualH2);
116  numericH1 = numericalDerivative21(compose_proxy, x1, expected, 1e-5);
117  numericH2 = numericalDerivative22(compose_proxy, x1, expected, 1e-5);
118  EXPECT(assert_equal(numericH1, actualH1, tol));
119  EXPECT(assert_equal(numericH2, actualH2, tol));
120 }
121 
122 /* ************************************************************************* */
123 Pose3Upright inverse_proxy(const Pose3Upright& x1) { return x1.inverse(); }
124 TEST( testPose3Upright, inverse ) {
125  Pose3Upright x1(1.0, 2.0, 3.0, 0.1);
126  Pose3Upright expected(x1.pose2().inverse(), - x1.z());
127  EXPECT(assert_equal(expected, x1.inverse(), tol));
128 
129  Matrix actualH1, numericH1;
130  x1.inverse(actualH1);
131  numericH1 = numericalDerivative11(inverse_proxy, x1, 1e-5);
132  EXPECT(assert_equal(numericH1, actualH1, tol));
133 }
134 
135 /* ************************************************************************* */
136 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
137 /* ************************************************************************* */
TestRegistry::runAllTests
static int runAllTests(TestResult &result)
Definition: TestRegistry.cpp:27
gtsam::LieGroup::between
Class between(const Class &g) const
Definition: Lie.h:52
main
int main()
Definition: testPose3Upright.cpp:136
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static const Pose3 pose(Rot3(Vector3(1, -1, -1).asDiagonal()), Point3(0, 0, 0.5))
inverse
const EIGEN_DEVICE_FUNC InverseReturnType inverse() const
Definition: ArrayCwiseUnaryOps.h:411
gtsam::between
Expression< T > between(const Expression< T > &t1, const Expression< T > &t2)
Definition: nonlinear/expressions.h:17
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double z() const
Definition: Pose3Upright.h:66
e
Array< double, 1, 3 > e(1./3., 0.5, 2.)
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Definition: testPose3Upright.cpp:108
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#define EXPECT_LONGS_EQUAL(expected, actual)
Definition: Test.h:154
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Definition: testPose3Upright.cpp:123
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#define EXPECT(condition)
Definition: Test.h:150
TestHarness.h
gtsam::LieGroup::compose
Class compose(const Class &g) const
Definition: Lie.h:48
gtsam::numericalDerivative11
internal::FixedSizeMatrix< Y, X >::type numericalDerivative11(std::function< Y(const X &)> h, const X &x, double delta=1e-5)
New-style numerical derivatives using manifold_traits.
Definition: numericalDerivative.h:110
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static Rot3 Yaw(double t)
Positive yaw is to right (as in aircraft heading). See ypr.
Definition: Rot3.h:174
gtsam::numericalDerivative22
internal::FixedSizeMatrix< Y, X2 >::type numericalDerivative22(std::function< Y(const X1 &, const X2 &)> h, const X1 &x1, const X2 &x2, double delta=1e-5)
Definition: numericalDerivative.h:195
gtsam::Matrix
Eigen::MatrixXd Matrix
Definition: base/Matrix.h:39
gtsam::Pose3Upright::theta
double theta() const
Definition: Pose3Upright.h:67
gtsam::Pose3Upright::Expmap
static Pose3Upright Expmap(const Vector &xi)
Exponential map at identity - create a rotation from canonical coordinates.
Definition: Pose3Upright.cpp:152
gtsam::Vector
Eigen::VectorXd Vector
Definition: Vector.h:38
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static Rot2 fromAngle(double theta)
Named constructor from angle in radians.
Definition: Rot2.h:61
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Some functions to compute numerical derivatives.
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Definition: Pose3.h:37
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Definition: Pose3.cpp:49
gtsam::Pose3Upright::Logmap
static Vector Logmap(const Pose3Upright &p)
Log map at identity - return the canonical coordinates of this rotation.
Definition: Pose3Upright.cpp:159
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Matrix expected
Definition: testMatrix.cpp:971
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Definition: Pose3.cpp:308
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Variation of a Pose3 in which the rotation is constained to purely yaw This state is essentially a Po...
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Vector2 Point2
Definition: Point2.h:32
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localCoordinates as required by manifold concept: finds tangent vector between *this and g
Definition: Lie.h:136
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#define EXPECT_DOUBLES_EQUAL(expected, actual, threshold)
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Definition: Pose3Upright.h:65
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