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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------1------------------------------------------- */
/**
* @file testLie.cpp
* @date May, 2015
* @author Frank Dellaert
* @brief unit tests for Lie group type machinery
*/
#include <gtsam/base/ProductLieGroup.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/base/testLie.h>
#include <CppUnitLite/TestHarness.h>
using namespace std;
using namespace gtsam;
static const double tol = 1e-9;
//******************************************************************************
typedef ProductLieGroup<Point2, Pose2> Product;
// Define any direct product group to be a model of the multiplicative Group concept
namespace gtsam {
template<> struct traits<Product> : internal::LieGroupTraits<Product> {
static void Print(const Product& m, const string& s = "") {
cout << s << "(" << m.first << "," << m.second.translation() << "/"
<< m.second.theta() << ")" << endl;
}
static bool Equals(const Product& m1, const Product& m2, double tol = 1e-8) {
return traits<Point2>::Equals(m1.first, m2.first, tol) && m1.second.equals(m2.second, tol);
}
};
}
//******************************************************************************
TEST(Lie, ProductLieGroup) {
BOOST_CONCEPT_ASSERT((IsGroup<Product>));
BOOST_CONCEPT_ASSERT((IsManifold<Product>));
BOOST_CONCEPT_ASSERT((IsLieGroup<Product>));
Product pair1;
Vector5 d;
d << 1, 2, 0.1, 0.2, 0.3;
Product expected(Point2(1, 2), Pose2::Expmap(Vector3(0.1, 0.2, 0.3)));
Product pair2 = pair1.expmap(d);
EXPECT(assert_equal(expected, pair2, 1e-9));
EXPECT(assert_equal(d, pair1.logmap(pair2), 1e-9));
}
/* ************************************************************************* */
Product compose_proxy(const Product& A, const Product& B) {
return A.compose(B);
}
TEST( testProduct, compose ) {
Product state1(Point2(1, 2), Pose2(3, 4, 5)), state2 = state1;
Matrix actH1, actH2;
state1.compose(state2, actH1, actH2);
Matrix numericH1 = numericalDerivative21(compose_proxy, state1, state2);
Matrix numericH2 = numericalDerivative22(compose_proxy, state1, state2);
EXPECT(assert_equal(numericH1, actH1, tol));
EXPECT(assert_equal(numericH2, actH2, tol));
}
/* ************************************************************************* */
Product between_proxy(const Product& A, const Product& B) {
return A.between(B);
}
TEST( testProduct, between ) {
Product state1(Point2(1, 2), Pose2(3, 4, 5)), state2 = state1;
Matrix actH1, actH2;
state1.between(state2, actH1, actH2);
Matrix numericH1 = numericalDerivative21(between_proxy, state1, state2);
Matrix numericH2 = numericalDerivative22(between_proxy, state1, state2);
EXPECT(assert_equal(numericH1, actH1, tol));
EXPECT(assert_equal(numericH2, actH2, tol));
}
/* ************************************************************************* */
Product inverse_proxy(const Product& A) {
return A.inverse();
}
TEST( testProduct, inverse ) {
Product state1(Point2(1, 2), Pose2(3, 4, 5));
Matrix actH1;
state1.inverse(actH1);
Matrix numericH1 = numericalDerivative11(inverse_proxy, state1);
EXPECT(assert_equal(numericH1, actH1, tol));
}
/* ************************************************************************* */
Product expmap_proxy(const Vector5& vec) {
return Product::Expmap(vec);
}
TEST( testProduct, Expmap ) {
Vector5 vec;
vec << 1, 2, 0.1, 0.2, 0.3;
Matrix actH;
Product::Expmap(vec, actH);
Matrix numericH = numericalDerivative11(expmap_proxy, vec);
EXPECT(assert_equal(numericH, actH, tol));
}
/* ************************************************************************* */
Vector5 logmap_proxy(const Product& p) {
return Product::Logmap(p);
}
TEST( testProduct, Logmap ) {
Product state(Point2(1, 2), Pose2(3, 4, 5));
Matrix actH;
Product::Logmap(state, actH);
Matrix numericH = numericalDerivative11(logmap_proxy, state);
EXPECT(assert_equal(numericH, actH, tol));
}
/* ************************************************************************* */
Product interpolate_proxy(const Product& x, const Product& y, double t) {
return interpolate<Product>(x, y, t);
}
TEST(Lie, Interpolate) {
Product x(Point2(1, 2), Pose2(3, 4, 5));
Product y(Point2(6, 7), Pose2(8, 9, 0));
double t;
Matrix actH1, numericH1, actH2, numericH2;
t = 0.0;
interpolate<Product>(x, y, t, actH1, actH2);
numericH1 = numericalDerivative31<Product, Product, Product, double>(
interpolate_proxy, x, y, t);
EXPECT(assert_equal(numericH1, actH1, tol));
numericH2 = numericalDerivative32<Product, Product, Product, double>(
interpolate_proxy, x, y, t);
EXPECT(assert_equal(numericH2, actH2, tol));
t = 0.5;
interpolate<Product>(x, y, t, actH1, actH2);
numericH1 = numericalDerivative31<Product, Product, Product, double>(
interpolate_proxy, x, y, t);
EXPECT(assert_equal(numericH1, actH1, tol));
numericH2 = numericalDerivative32<Product, Product, Product, double>(
interpolate_proxy, x, y, t);
EXPECT(assert_equal(numericH2, actH2, tol));
t = 1.0;
interpolate<Product>(x, y, t, actH1, actH2);
numericH1 = numericalDerivative31<Product, Product, Product, double>(
interpolate_proxy, x, y, t);
EXPECT(assert_equal(numericH1, actH1, tol));
numericH2 = numericalDerivative32<Product, Product, Product, double>(
interpolate_proxy, x, y, t);
EXPECT(assert_equal(numericH2, actH2, tol));
}
//******************************************************************************
int main() {
TestResult tr;
return TestRegistry::runAllTests(tr);
}
//******************************************************************************
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