testPoseTranslationPrior.cpp
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1 
8 #include <CppUnitLite/TestHarness.h>
9 
10 #include <gtsam/base/numericalDerivative.h>
11 #include <gtsam/geometry/Pose2.h>
12 #include <gtsam/geometry/Pose3.h>
13 
14 #include <gtsam/slam/PoseTranslationPrior.h>
15 
16 using namespace gtsam;
17 
18 const SharedNoiseModel model2 = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.2));
19 const SharedNoiseModel model3 = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.2, 0.3));
20 
21 typedef PoseTranslationPrior<Pose2> Pose2TranslationPrior;
22 typedef PoseTranslationPrior<Pose3> Pose3TranslationPrior;
23 
24 const double tol = 1e-5;
25 
26 const gtsam::Key poseKey = 1;
27 
28 // Pose3 examples
29 const Point3 point3A(1.0, 2.0, 3.0), point3B(4.0, 6.0, 8.0);
30 const Rot3 rot3A, rot3B = Rot3::Pitch(-M_PI_2), rot3C = Rot3::RzRyRx(0.1, 0.2, 0.3);
31 
32 // Pose2 examples
33 const Point2 point2A(1.0, 2.0), point2B(4.0, 6.0);
34 const Rot2 rot2A, rot2B = Rot2::fromAngle(M_PI_2);
35 
36 /* ************************************************************************* */
37 Vector evalFactorError3(const Pose3TranslationPrior& factor, const Pose3& x) {
38  return factor.evaluateError(x);
39 }
40 
41 /* ************************************************************************* */
42 Vector evalFactorError2(const Pose2TranslationPrior& factor, const Pose2& x) {
43  return factor.evaluateError(x);
44 }
45 
46 /* ************************************************************************* */
47 TEST( testPoseTranslationFactor, level3_zero_error ) {
48  Pose3 pose1(rot3A, point3A);
49  Pose3TranslationPrior factor(poseKey, point3A, model3);
50  Matrix actH1;
51  EXPECT(assert_equal(Z_3x1, factor.evaluateError(pose1, actH1)));
52  Matrix expH1 = numericalDerivative22<Vector3,Pose3TranslationPrior,Pose3>(evalFactorError3, factor, pose1, 1e-5);
53  EXPECT(assert_equal(expH1, actH1, tol));
54 }
55 
56 /* ************************************************************************* */
57 TEST( testPoseTranslationFactor, level3_error ) {
58  Pose3 pose1(rot3A, point3A);
59  Pose3TranslationPrior factor(poseKey, point3B, model3);
60  Matrix actH1;
61  EXPECT(assert_equal(Vector3(-3.0,-4.0,-5.0), factor.evaluateError(pose1, actH1)));
62  Matrix expH1 = numericalDerivative22<Vector3,Pose3TranslationPrior,Pose3>(evalFactorError3, factor, pose1, 1e-5);
63  EXPECT(assert_equal(expH1, actH1, tol));
64 }
65 
66 /* ************************************************************************* */
67 TEST( testPoseTranslationFactor, pitched3_zero_error ) {
68  Pose3 pose1(rot3B, point3A);
69  Pose3TranslationPrior factor(poseKey, point3A, model3);
70  Matrix actH1;
71  EXPECT(assert_equal(Z_3x1, factor.evaluateError(pose1, actH1)));
72  Matrix expH1 = numericalDerivative22<Vector3,Pose3TranslationPrior,Pose3>(evalFactorError3, factor, pose1, 1e-5);
73  EXPECT(assert_equal(expH1, actH1, tol));
74 }
75 
76 /* ************************************************************************* */
77 TEST( testPoseTranslationFactor, pitched3_error ) {
78  Pose3 pose1(rot3B, point3A);
79  Pose3TranslationPrior factor(poseKey, point3B, model3);
80  Matrix actH1;
81  EXPECT(assert_equal(Vector3(-3.0,-4.0,-5.0), factor.evaluateError(pose1, actH1)));
82  Matrix expH1 = numericalDerivative22<Vector3,Pose3TranslationPrior,Pose3>(evalFactorError3, factor, pose1, 1e-5);
83  EXPECT(assert_equal(expH1, actH1, tol));
84 }
85 
86 /* ************************************************************************* */
87 TEST( testPoseTranslationFactor, smallrot3_zero_error ) {
88  Pose3 pose1(rot3C, point3A);
89  Pose3TranslationPrior factor(poseKey, point3A, model3);
90  Matrix actH1;
91  EXPECT(assert_equal(Z_3x1, factor.evaluateError(pose1, actH1)));
92  Matrix expH1 = numericalDerivative22<Vector3,Pose3TranslationPrior,Pose3>(evalFactorError3, factor, pose1, 1e-5);
93  EXPECT(assert_equal(expH1, actH1, tol));
94 }
95 
96 /* ************************************************************************* */
97 TEST( testPoseTranslationFactor, smallrot3_error ) {
98  Pose3 pose1(rot3C, point3A);
99  Pose3TranslationPrior factor(poseKey, point3B, model3);
100  Matrix actH1;
101  EXPECT(assert_equal(Vector3(-3.0,-4.0,-5.0), factor.evaluateError(pose1, actH1)));
102  Matrix expH1 = numericalDerivative22<Vector3,Pose3TranslationPrior,Pose3>(evalFactorError3, factor, pose1, 1e-5);
103  EXPECT(assert_equal(expH1, actH1, tol));
104 }
105 
106 /* ************************************************************************* */
107 TEST( testPoseTranslationFactor, level2_zero_error ) {
108  Pose2 pose1(rot2A, point2A);
109  Pose2TranslationPrior factor(poseKey, point2A, model2);
110  Matrix actH1;
111  EXPECT(assert_equal(Z_2x1, factor.evaluateError(pose1, actH1)));
112  Matrix expH1 = numericalDerivative22<Vector2,Pose2TranslationPrior,Pose2>(evalFactorError2, factor, pose1, 1e-5);
113  EXPECT(assert_equal(expH1, actH1, tol));
114 }
115 
116 /* ************************************************************************* */
117 TEST( testPoseTranslationFactor, level2_error ) {
118  Pose2 pose1(rot2A, point2A);
119  Pose2TranslationPrior factor(poseKey, point2B, model2);
120  Matrix actH1;
121  EXPECT(assert_equal(Vector2(-3.0,-4.0), factor.evaluateError(pose1, actH1)));
122  Matrix expH1 = numericalDerivative22<Vector2,Pose2TranslationPrior,Pose2>(evalFactorError2, factor, pose1, 1e-5);
123  EXPECT(assert_equal(expH1, actH1, tol));
124 }
125 
126 /* ************************************************************************* */
127 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
128 /* ************************************************************************* */
TestRegistry::runAllTests
static int runAllTests(TestResult &result)
Definition: TestRegistry.cpp:27
rot2B
const Rot2 rot2B
Definition: testPoseTranslationPrior.cpp:34
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PoseTranslationPrior.h
Implements a prior on the translation component of a pose.
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const Point2 point2A(1.0, 2.0)
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#define EXPECT(condition)
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const Rot3 rot3B
Definition: testPoseTranslationPrior.cpp:30
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static const Eigen::MatrixBase< Vector3 >::ConstantReturnType Z_3x1
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Eigen::MatrixXd Matrix
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static shared_ptr Sigmas(const Vector &sigmas, bool smart=true)
Definition: NoiseModel.cpp:292
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Definition: Vector.h:44
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Definition: testPoseTranslationPrior.cpp:22
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Definition: Rot2.h:61
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const Point3 point3B(4.0, 6.0, 8.0)
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Definition: testPoseTranslationPrior.cpp:21
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Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Definition: Rot3.h:58
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const Rot3 rot3C
Definition: testPoseTranslationPrior.cpp:30
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Definition: Pose3.h:37
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static Rot3 Pitch(double t)
Positive pitch is up (increasing aircraft altitude).See ypr.
Definition: Rot3.h:181
main
int main()
Definition: testPoseTranslationPrior.cpp:127
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const SharedNoiseModel model3
Definition: testPoseTranslationPrior.cpp:19
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Vector2 Point2
Definition: Point2.h:32
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noiseModel::Base::shared_ptr SharedNoiseModel
Definition: NoiseModel.h:762
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Definition: PoseTranslationPrior.h:21
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Definition: TestResult.h:26
M_PI_2
#define M_PI_2
Definition: mconf.h:118
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Vector evalFactorError3(const Pose3TranslationPrior &factor, const Pose3 &x)
Definition: testPoseTranslationPrior.cpp:37
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Definition: testPoseTranslationPrior.cpp:18
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const gtsam::Key poseKey
Definition: testPoseTranslationPrior.cpp:26
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Definition: Vector.h:46
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Definition: testPoseTranslationPrior.cpp:42
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