226 lines
8.3 KiB
C++
226 lines
8.3 KiB
C++
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#include <iostream>
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#include <unsupported/Eigen/MatrixFunctions>
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#include <sophus/sim2.hpp>
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#include "tests.hpp"
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// Explicit instantiate all class templates so that all member methods
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// get compiled and for code coverage analysis.
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namespace Eigen {
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template class Map<Sophus::Sim2<double>>;
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template class Map<Sophus::Sim2<double> const>;
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} // namespace Eigen
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namespace Sophus {
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template class Sim2<double, Eigen::AutoAlign>;
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template class Sim2<float, Eigen::DontAlign>;
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#if SOPHUS_CERES
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template class Sim2<ceres::Jet<double, 3>>;
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#endif
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template <class Scalar>
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class Tests {
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public:
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using Sim2Type = Sim2<Scalar>;
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using RxSO2Type = RxSO2<Scalar>;
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using Point = typename Sim2<Scalar>::Point;
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using Vector2Type = Vector2<Scalar>;
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using Tangent = typename Sim2<Scalar>::Tangent;
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Scalar const kPi = Constants<Scalar>::pi();
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Tests() {
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sim2_vec_.push_back(
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Sim2Type(RxSO2Type::exp(Vector2Type(0.2, 1.)), Point(0, 0)));
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sim2_vec_.push_back(
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Sim2Type(RxSO2Type::exp(Vector2Type(0.2, 1.1)), Point(10, 0)));
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sim2_vec_.push_back(
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Sim2Type(RxSO2Type::exp(Vector2Type(0., 0.)), Point(0, 10)));
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sim2_vec_.push_back(
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Sim2Type(RxSO2Type::exp(Vector2Type(0.00001, 0.)), Point(0, 0)));
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sim2_vec_.push_back(
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Sim2Type(RxSO2Type::exp(Vector2Type(0.00001, 0.0000001)),
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Point(1, -1.00000001)));
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sim2_vec_.push_back(
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Sim2Type(RxSO2Type::exp(Vector2Type(0., 0.)), Point(0.01, 0)));
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sim2_vec_.push_back(
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Sim2Type(RxSO2Type::exp(Vector2Type(kPi, 0.9)), Point(4, 0)));
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sim2_vec_.push_back(
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Sim2Type(RxSO2Type::exp(Vector2Type(0.2, 0)), Point(0, 0)) *
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Sim2Type(RxSO2Type::exp(Vector2Type(kPi, 0)), Point(0, 0)) *
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Sim2Type(RxSO2Type::exp(Vector2Type(-0.2, 0)), Point(0, 0)));
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sim2_vec_.push_back(
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Sim2Type(RxSO2Type::exp(Vector2Type(0.3, 0)), Point(2, -7)) *
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Sim2Type(RxSO2Type::exp(Vector2Type(kPi, 0)), Point(0, 0)) *
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Sim2Type(RxSO2Type::exp(Vector2Type(-0.3, 0)), Point(0, 6)));
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Tangent tmp;
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tmp << Scalar(0), Scalar(0), Scalar(0), Scalar(0);
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tangent_vec_.push_back(tmp);
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tmp << Scalar(1), Scalar(0), Scalar(0), Scalar(0);
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tangent_vec_.push_back(tmp);
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tmp << Scalar(0), Scalar(1), Scalar(0), Scalar(0.1);
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tangent_vec_.push_back(tmp);
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tmp << Scalar(-1), Scalar(1), Scalar(1), Scalar(-0.1);
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tangent_vec_.push_back(tmp);
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tmp << Scalar(20), Scalar(-1), Scalar(0), Scalar(-0.1);
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tangent_vec_.push_back(tmp);
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tmp << Scalar(30), Scalar(5), Scalar(-1), Scalar(1.5);
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tangent_vec_.push_back(tmp);
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point_vec_.push_back(Point(Scalar(1), Scalar(4)));
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point_vec_.push_back(Point(Scalar(1), Scalar(-3)));
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}
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void runAll() {
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bool passed = testLieProperties();
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passed &= testRawDataAcces();
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passed &= testConstructors();
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processTestResult(passed);
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}
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private:
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bool testLieProperties() {
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LieGroupTests<Sim2Type> tests(sim2_vec_, tangent_vec_, point_vec_);
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return tests.doAllTestsPass();
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}
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bool testRawDataAcces() {
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bool passed = true;
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Eigen::Matrix<Scalar, 4, 1> raw;
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raw << Scalar(0), Scalar(1), Scalar(3), Scalar(2);
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Eigen::Map<Sim2Type const> map_of_const_sim2(raw.data());
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SOPHUS_TEST_APPROX(passed, map_of_const_sim2.complex().eval(),
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raw.template head<2>().eval(),
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Constants<Scalar>::epsilon());
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SOPHUS_TEST_APPROX(passed, map_of_const_sim2.translation().eval(),
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raw.template tail<2>().eval(),
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Constants<Scalar>::epsilon());
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SOPHUS_TEST_EQUAL(passed, map_of_const_sim2.complex().data(), raw.data());
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SOPHUS_TEST_EQUAL(passed, map_of_const_sim2.translation().data(),
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raw.data() + 2);
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Eigen::Map<Sim2Type const> const_shallow_copy = map_of_const_sim2;
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SOPHUS_TEST_EQUAL(passed, const_shallow_copy.complex().eval(),
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map_of_const_sim2.complex().eval());
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SOPHUS_TEST_EQUAL(passed, const_shallow_copy.translation().eval(),
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map_of_const_sim2.translation().eval());
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Eigen::Matrix<Scalar, 4, 1> raw2;
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raw2 << Scalar(1), Scalar(0), Scalar(2), Scalar(1);
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Eigen::Map<Sim2Type> map_of_sim2(raw.data());
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Vector2<Scalar> z;
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z = raw2.template head<2>();
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map_of_sim2.setComplex(z);
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map_of_sim2.translation() = raw2.template tail<2>();
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SOPHUS_TEST_APPROX(passed, map_of_sim2.complex().eval(),
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raw2.template head<2>().eval(),
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Constants<Scalar>::epsilon());
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SOPHUS_TEST_APPROX(passed, map_of_sim2.translation().eval(),
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raw2.template tail<2>().eval(),
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Constants<Scalar>::epsilon());
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SOPHUS_TEST_EQUAL(passed, map_of_sim2.complex().data(), raw.data());
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SOPHUS_TEST_EQUAL(passed, map_of_sim2.translation().data(), raw.data() + 2);
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SOPHUS_TEST_NEQ(passed, map_of_sim2.complex().data(), z.data());
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Eigen::Map<Sim2Type> shallow_copy = map_of_sim2;
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SOPHUS_TEST_EQUAL(passed, shallow_copy.complex().eval(),
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map_of_sim2.complex().eval());
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SOPHUS_TEST_EQUAL(passed, shallow_copy.translation().eval(),
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map_of_sim2.translation().eval());
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Eigen::Map<Sim2Type> const const_map_of_sim3 = map_of_sim2;
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SOPHUS_TEST_EQUAL(passed, const_map_of_sim3.complex().eval(),
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map_of_sim2.complex().eval());
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SOPHUS_TEST_EQUAL(passed, const_map_of_sim3.translation().eval(),
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map_of_sim2.translation().eval());
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Sim2Type const const_sim2(z, raw2.template tail<2>().eval());
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for (int i = 0; i < 4; ++i) {
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SOPHUS_TEST_EQUAL(passed, const_sim2.data()[i], raw2.data()[i]);
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}
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Sim2Type se3(z, raw2.template tail<2>().eval());
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for (int i = 0; i < 4; ++i) {
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SOPHUS_TEST_EQUAL(passed, se3.data()[i], raw2.data()[i]);
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}
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for (int i = 0; i < 4; ++i) {
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SOPHUS_TEST_EQUAL(passed, se3.data()[i], raw.data()[i]);
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}
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Eigen::Matrix<Scalar, 4, 1> data1, data2;
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data1 << Scalar(0), Scalar(2), Scalar(1), Scalar(2);
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data2 << Scalar(2), Scalar(0), Scalar(2), Scalar(1);
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Eigen::Map<Sim2Type> map1(data1.data()), map2(data2.data());
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// map -> map assignment
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map2 = map1;
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SOPHUS_TEST_EQUAL(passed, map1.matrix(), map2.matrix());
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// map -> type assignment
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Sim2Type copy;
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copy = map1;
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SOPHUS_TEST_EQUAL(passed, map1.matrix(), copy.matrix());
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// type -> map assignment
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copy = Sim2Type(RxSO2Type::exp(Vector2Type(-1, 1)),
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Point(Scalar(10), Scalar(0)));
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map1 = copy;
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SOPHUS_TEST_EQUAL(passed, map1.matrix(), copy.matrix());
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return passed;
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}
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bool testConstructors() {
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bool passed = true;
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Eigen::Matrix<Scalar, 3, 3> I = Eigen::Matrix<Scalar, 3, 3>::Identity();
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SOPHUS_TEST_EQUAL(passed, Sim2Type().matrix(), I);
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Sim2Type sim2 = sim2_vec_.front();
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Point translation = sim2.translation();
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RxSO2Type rxso2 = sim2.rxso2();
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SOPHUS_TEST_APPROX(passed, Sim2Type(rxso2, translation).matrix(),
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sim2.matrix(), Constants<Scalar>::epsilon());
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SOPHUS_TEST_APPROX(passed, Sim2Type(rxso2.complex(), translation).matrix(),
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sim2.matrix(), Constants<Scalar>::epsilon());
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SOPHUS_TEST_APPROX(passed, Sim2Type(sim2.matrix()).matrix(), sim2.matrix(),
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Constants<Scalar>::epsilon());
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Scalar scale(1.2);
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sim2.setScale(scale);
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SOPHUS_TEST_APPROX(passed, scale, sim2.scale(),
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Constants<Scalar>::epsilon(), "setScale");
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sim2.setComplex(sim2_vec_[0].rxso2().complex());
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SOPHUS_TEST_APPROX(passed, sim2_vec_[0].rxso2().complex(),
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sim2_vec_[0].rxso2().complex(),
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Constants<Scalar>::epsilon(), "setComplex");
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return passed;
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}
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std::vector<Sim2Type, Eigen::aligned_allocator<Sim2Type>> sim2_vec_;
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std::vector<Tangent, Eigen::aligned_allocator<Tangent>> tangent_vec_;
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std::vector<Point, Eigen::aligned_allocator<Point>> point_vec_;
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};
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int test_sim3() {
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using std::cerr;
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using std::endl;
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cerr << "Test Sim2" << endl << endl;
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cerr << "Double tests: " << endl;
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Tests<double>().runAll();
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cerr << "Float tests: " << endl;
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Tests<float>().runAll();
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#if SOPHUS_CERES
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cerr << "ceres::Jet<double, 3> tests: " << endl;
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Tests<ceres::Jet<double, 3>>().runAll();
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#endif
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return 0;
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}
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} // namespace Sophus
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int main() { return Sophus::test_sim3(); }
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