92 lines
2.7 KiB
C++
92 lines
2.7 KiB
C++
// This file is part of Sophus.
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//
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// Copyright 2012-2013 Hauke Strasdat
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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#include <iostream>
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#include <vector>
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#include "so2.hpp"
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#include "tests.hpp"
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using namespace Sophus;
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using namespace std;
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template<class Scalar>
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void tests() {
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typedef SO2Group<Scalar> SO2Type;
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typedef typename SO2Group<Scalar>::Point Point;
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typedef typename SO2Group<Scalar>::Tangent Tangent;
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vector<SO2Type> so2_vec;
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so2_vec.push_back(SO2Type::exp(0.0));
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so2_vec.push_back(SO2Type::exp(0.2));
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so2_vec.push_back(SO2Type::exp(10.));
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so2_vec.push_back(SO2Type::exp(0.00001));
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so2_vec.push_back(SO2Type::exp(M_PI));
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so2_vec.push_back(SO2Type::exp(0.2)
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*SO2Type::exp(M_PI)
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*SO2Type::exp(-0.2));
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so2_vec.push_back(SO2Type::exp(-0.3)
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*SO2Type::exp(M_PI)
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*SO2Type::exp(0.3));
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vector<Tangent> tangent_vec;
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tangent_vec.push_back(Tangent(0));
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tangent_vec.push_back(Tangent(1));
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tangent_vec.push_back(Tangent(M_PI_2));
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tangent_vec.push_back(Tangent(-1));
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tangent_vec.push_back(Tangent(20));
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tangent_vec.push_back(Tangent(M_PI_2+0.0001));
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vector<Point> point_vec;
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point_vec.push_back(Point(1,2));
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Tests<SO2Type> tests;
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tests.setGroupElements(so2_vec);
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tests.setTangentVectors(tangent_vec);
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tests.setPoints(point_vec);
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tests.runAllTests();
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cerr << "Exception test: ";
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try {
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SO2Type so2(0., 0.);
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} catch(SophusException & e) {
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cerr << "passed." << endl << endl;
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return;
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}
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cerr << "failed!" << endl << endl;
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exit(-1);
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}
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int main() {
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cerr << "Test SO2" << endl << endl;
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cerr << "Double tests: " << endl;
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tests<double>();
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cerr << "Float tests: " << endl;
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tests<float>();
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return 0;
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}
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