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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
* -------------------------------------------------------------------------- */
/**
* @file testSimulated2D.cpp
* @brief Unit tests for simulated 2D measurement functions
* @author Christian Potthast
* @author Carlos Nieto
**/
#include <iostream>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <tests/simulated2D.h>
using namespace std;
using namespace gtsam;
using namespace simulated2D;
/* ************************************************************************* */
TEST( simulated2D, Simulated2DValues )
{
simulated2D::Values actual;
actual.insert(1,Point2(1,1));
actual.insert(2,Point2(2,2));
EXPECT(assert_equal(actual,actual,1e-9));
}
/* ************************************************************************* */
TEST( simulated2D, Dprior )
{
Point2 x(1,-9);
Matrix numerical = numericalDerivative11(simulated2D::prior,x);
Matrix computed;
simulated2D::prior(x,computed);
EXPECT(assert_equal(numerical,computed,1e-9));
}
/* ************************************************************************* */
TEST( simulated2D, DOdo )
{
Point2 x1(1,-9),x2(-5,6);
Matrix H1,H2;
simulated2D::odo(x1,x2,H1,H2);
Matrix A1 = numericalDerivative21(simulated2D::odo,x1,x2);
EXPECT(assert_equal(A1,H1,1e-9));
Matrix A2 = numericalDerivative22(simulated2D::odo,x1,x2);
EXPECT(assert_equal(A2,H2,1e-9));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
/* ************************************************************************* */
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