v1

2022-06-28 10:36:24 +03:00
commit e4c8529305
160 changed files with 59023 additions and 0 deletions
--- a/thirdparty/Sophus/sophus/test_rxso3.cpp
+++ b/thirdparty/Sophus/sophus/test_rxso3.cpp
@@ -0,0 +1,92 @@
+// This file is part of Sophus.
+//
+// Copyright 2012-2013 Hauke Strasdat
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights  to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+#include <iostream>
+#include <vector>
+
+
+#include "rxso3.hpp"
+#include "tests.hpp"
+
+using namespace Sophus;
+using namespace std;
+
+template<class Scalar>
+void tests() {
+
+  typedef RxSO3Group<Scalar> RxSO3Type;
+  typedef typename RxSO3Group<Scalar>::Point Point;
+  typedef typename RxSO3Group<Scalar>::Tangent Tangent;
+
+  vector<RxSO3Type> rxso3_vec;
+  rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.2, 0.5, 0.0, 1.)));
+  rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.2, 0.5, -1.0, 1.1)));
+  rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0., 1.1)));
+  rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0.00001, 0.)));
+  rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0.00001, 0.00001)));
+  rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0.00001, 0)));
+  rxso3_vec.push_back(RxSO3Type::exp(Tangent(M_PI, 0, 0, 0.9)));
+  rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.2, 0.5, 0.0,0))
+                      *RxSO3Type::exp(Tangent(M_PI, 0, 0,0.0))
+                      *RxSO3Type::exp(Tangent(-0.2, -0.5, -0.0,0)));
+  rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.3, 0.5, 0.1,0))
+                      *RxSO3Type::exp(Tangent(M_PI, 0, 0,0))
+                      *RxSO3Type::exp(Tangent(-0.3, -0.5, -0.1,0)));
+
+  vector<Tangent> tangent_vec;
+  Tangent tmp;
+  tmp << 0,0,0,0;
+  tangent_vec.push_back(tmp);
+  tmp << 1,0,0,0;
+  tangent_vec.push_back(tmp);
+  tmp << 1,0,0,0.1;
+  tangent_vec.push_back(tmp);
+  tmp << 0,1,0,0.1;
+  tangent_vec.push_back(tmp);
+  tmp << 0,0,1,-0.1;
+  tangent_vec.push_back(tmp);
+  tmp << -1,1,0,-0.1;
+  tangent_vec.push_back(tmp);
+  tmp << 20,-1,0,2;
+  tangent_vec.push_back(tmp);
+
+  vector<Point> point_vec;
+  point_vec.push_back(Point(1,2,4));
+
+  Tests<RxSO3Type> tests;
+  tests.setGroupElements(rxso3_vec);
+  tests.setTangentVectors(tangent_vec);
+  tests.setPoints(point_vec);
+
+  tests.runAllTests();
+}
+
+int main() {
+  cerr << "Test RxSO3" << endl << endl;
+
+  cerr << "Double tests: " << endl;
+  tests<double>();
+
+  cerr << "Float tests: " << endl;
+  tests<float>();
+  return 0;
+}