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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 testSimulated2DOriented.cpp
* @date Jun 10, 2010
* @author nikai
* @brief unit tests for simulated2DOriented
*/
#include <tests/simulated2D.h>
#include <tests/simulated2DOriented.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
using namespace std;
using namespace gtsam;
#include <iostream>
#include <CppUnitLite/TestHarness.h>
// Convenience for named keys
using symbol_shorthand::X;
using symbol_shorthand::L;
/* ************************************************************************* */
TEST( simulated2DOriented, Dprior )
{
Pose2 x(1,-9, 0.1);
Matrix numerical = numericalDerivative11(simulated2DOriented::prior,x);
Matrix computed;
simulated2DOriented::prior(x,computed);
CHECK(assert_equal(numerical,computed,1e-9));
}
/* ************************************************************************* */
TEST( simulated2DOriented, DOdo )
{
Pose2 x1(1,-9,0.1),x2(-5,6,0.2);
Matrix H1,H2;
simulated2DOriented::odo(x1,x2,H1,H2);
Matrix A1 = numericalDerivative21(simulated2DOriented::odo,x1,x2);
CHECK(assert_equal(A1,H1,1e-9));
Matrix A2 = numericalDerivative22(simulated2DOriented::odo,x1,x2);
CHECK(assert_equal(A2,H2,1e-9));
}
/* ************************************************************************* */
TEST( simulated2DOriented, constructor )
{
Pose2 measurement(0.2, 0.3, 0.1);
SharedDiagonal model = noiseModel::Diagonal::Sigmas(Vector3(1., 1., 1.));
simulated2DOriented::Odometry factor(measurement, model, X(1), X(2));
simulated2DOriented::Values config;
config.insert(X(1), Pose2(1., 0., 0.2));
config.insert(X(2), Pose2(2., 0., 0.1));
boost::shared_ptr<GaussianFactor> lf = factor.linearize(config);
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
/* ************************************************************************* */
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