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_se2.cpp
+++ b/thirdparty/Sophus/sophus/test_se2.cpp
@@ -0,0 +1,90 @@
+// 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 <unsupported/Eigen/MatrixFunctions>
+#include "se2.hpp"
+#include "tests.hpp"
+
+using namespace Sophus;
+using namespace std;
+
+template<class Scalar>
+void tests() {
+
+  typedef SO2Group<Scalar> SO2Type;
+  typedef SE2Group<Scalar> SE2Type;
+  typedef typename SE2Group<Scalar>::Point Point;
+  typedef typename SE2Group<Scalar>::Tangent Tangent;
+
+  vector<SE2Type> se2_vec;
+  se2_vec.push_back(SE2Type(SO2Type(0.0),Point(0,0)));
+  se2_vec.push_back(SE2Type(SO2Type(0.2),Point(10,0)));
+  se2_vec.push_back(SE2Type(SO2Type(0.),Point(0,100)));
+  se2_vec.push_back(SE2Type(SO2Type(-1.),Point(20,-1)));
+  se2_vec.push_back(SE2Type(SO2Type(0.00001),
+                            Point(-0.00000001,0.0000000001)));
+  se2_vec.push_back(SE2Type(SO2Type(0.2),Point(0,0))
+                    *SE2Type(SO2Type(M_PI),Point(0,0))
+                    *SE2Type(SO2Type(-0.2),Point(0,0)));
+  se2_vec.push_back(SE2Type(SO2Type(0.3),Point(2,0))
+                    *SE2Type(SO2Type(M_PI),Point(0,0))
+                    *SE2Type(SO2Type(-0.3),Point(0,6)));
+
+  vector<Tangent> tangent_vec;
+  Tangent tmp;
+  tmp << 0,0,0;
+  tangent_vec.push_back(tmp);
+  tmp << 1,0,0;
+  tangent_vec.push_back(tmp);
+  tmp << 0,1,1;
+  tangent_vec.push_back(tmp);
+  tmp << -1,1,0;
+  tangent_vec.push_back(tmp);
+  tmp << 20,-1,-1;
+  tangent_vec.push_back(tmp);
+  tmp << 30,5,20;
+  tangent_vec.push_back(tmp);
+
+  vector<Point> point_vec;
+  point_vec.push_back(Point(1,2));
+
+  Tests<SE2Type> tests;
+  tests.setGroupElements(se2_vec);
+  tests.setTangentVectors(tangent_vec);
+  tests.setPoints(point_vec);
+
+  tests.runAllTests();
+}
+
+int main() {
+  cerr << "Test SE2" << endl << endl;
+
+  cerr << "Double tests: " << endl;
+  tests<double>();
+
+  cerr << "Float tests: " << endl;
+  tests<float>();
+  return 0;
+}