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_so3.cpp
+++ b/thirdparty/Sophus/sophus/test_so3.cpp
@@ -0,0 +1,84 @@
+// 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 "so3.hpp"
+#include "tests.hpp"
+
+using namespace Sophus;
+using namespace std;
+
+template<class Scalar>
+void tests() {
+
+  typedef SO3Group<Scalar> SO3Type;
+  typedef typename SO3Group<Scalar>::Point Point;
+  typedef typename SO3Group<Scalar>::Tangent Tangent;
+
+  vector<SO3Type> so3_vec;
+
+  so3_vec.push_back(SO3Type(Quaternion<Scalar>(0.1e-11, 0., 1., 0.)));
+  so3_vec.push_back(SO3Type(Quaternion<Scalar>(-1,0.00001,0.0,0.0)));
+  so3_vec.push_back(SO3Type::exp(Point(0.2, 0.5, 0.0)));
+  so3_vec.push_back(SO3Type::exp(Point(0.2, 0.5, -1.0)));
+  so3_vec.push_back(SO3Type::exp(Point(0., 0., 0.)));
+  so3_vec.push_back(SO3Type::exp(Point(0., 0., 0.00001)));
+  so3_vec.push_back(SO3Type::exp(Point(M_PI, 0, 0)));
+  so3_vec.push_back(SO3Type::exp(Point(0.2, 0.5, 0.0))
+                    *SO3Type::exp(Point(M_PI, 0, 0))
+                    *SO3Type::exp(Point(-0.2, -0.5, -0.0)));
+  so3_vec.push_back(SO3Type::exp(Point(0.3, 0.5, 0.1))
+                    *SO3Type::exp(Point(M_PI, 0, 0))
+                    *SO3Type::exp(Point(-0.3, -0.5, -0.1)));
+
+  vector<Tangent> tangent_vec;
+  tangent_vec.push_back(Tangent(0,0,0));
+  tangent_vec.push_back(Tangent(1,0,0));
+  tangent_vec.push_back(Tangent(0,1,0));
+  tangent_vec.push_back(Tangent(M_PI_2,M_PI_2,0.0));
+  tangent_vec.push_back(Tangent(-1,1,0));
+  tangent_vec.push_back(Tangent(20,-1,0));
+  tangent_vec.push_back(Tangent(30,5,-1));
+
+  vector<Point> point_vec;
+  point_vec.push_back(Point(1,2,4));
+
+  Tests<SO3Type> tests;
+  tests.setGroupElements(so3_vec);
+  tests.setTangentVectors(tangent_vec);
+  tests.setPoints(point_vec);
+
+  tests.runAllTests();
+}
+
+int main() {
+  cerr << "Test SO3" << endl << endl;
+
+  cerr << "Double tests: " << endl;
+  tests<double>();
+
+  cerr << "Float tests: " << endl;
+  tests<float>();
+  return 0;
+}