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Commit 43ea71aa authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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expect instead of assert in test

parent b04c500b
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2 merge requests!28release after RAL,!27After 2nd RAL submission
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test/gtest_factor_gnss_fix_2d.cpp
+ 45
− 41
View file @ 43ea71aa
......@@ -63,10 +63,11 @@ void computeParamSizes(const SolverCeresPtr& solver_ceres, int& num_params_reduc
std::vector<ceres::ResidualBlockId> residual_blocks;
solver_ceres->getCeresProblem()->GetResidualBlocksForParameterBlock(pb,&residual_blocks);
if (!solver_ceres->getCeresProblem()->IsParameterBlockConstant(pb) && !residual_blocks.empty())
if (not solver_ceres->getCeresProblem()->IsParameterBlockConstant(pb) and
not residual_blocks.empty())
{
num_param_blocks_reduced ++;
num_params_reduced += solver_ceres->getCeresProblem()->ParameterBlockLocalSize(pb);
num_param_blocks_reduced ++;
num_params_reduced += solver_ceres->getCeresProblem()->ParameterBlockLocalSize(pb);
}
}
}
......@@ -120,8 +121,8 @@ TEST(FactorGnssFix2dTest, configure_tree)
gnss_sensor_ptr->process(cap_gnss_ptr);
// Checks
ASSERT_TRUE(problem_ptr->check(1));
ASSERT_TRUE(frame_ptr->isKey());
EXPECT_TRUE(problem_ptr->check(1));
EXPECT_TRUE(frame_ptr->isKey());
}
/*
......@@ -152,8 +153,8 @@ TEST(FactorGnssFix2dTest, gnss_1_map_base_position)
int num_params_reduced, num_param_blocks_reduced;
computeParamSizes(solver_ceres, num_params_reduced, num_param_blocks_reduced);
ASSERT_EQ(num_param_blocks_reduced, 1);
ASSERT_EQ(num_params_reduced, 2);
EXPECT_EQ(num_param_blocks_reduced, 1);
EXPECT_EQ(num_params_reduced, 2);
// --------------------------- solve
std::string report = solver_ceres->solve(SolverManager::ReportVerbosity::FULL);
......@@ -161,13 +162,13 @@ TEST(FactorGnssFix2dTest, gnss_1_map_base_position)
//std::cout << report << std::endl;
// --------------------------- check summary parameters & residuals
ASSERT_EQ(solver_ceres->getSummary().num_parameter_blocks_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_parameters_reduced, 2);
ASSERT_EQ(solver_ceres->getSummary().num_residual_blocks_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_residuals_reduced, 3);
EXPECT_EQ(solver_ceres->getSummary().num_parameter_blocks_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_parameters_reduced, 2);
EXPECT_EQ(solver_ceres->getSummary().num_residual_blocks_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_residuals_reduced, 3);
// --------------------------- check solver solution
ASSERT_MATRIX_APPROX(frame_ptr->getState().at('P'), t_map_base.head(2), 1e-6);
EXPECT_MATRIX_APPROX(frame_ptr->getState().at('P'), t_map_base.head(2), 1e-6);
}
/*
......@@ -197,20 +198,20 @@ TEST(FactorGnssFix2dTest, gnss_1_map_base_orientation)
int num_params_reduced, num_param_blocks_reduced;
computeParamSizes(solver_ceres, num_params_reduced, num_param_blocks_reduced);
ASSERT_EQ(num_param_blocks_reduced, 1);
ASSERT_EQ(num_params_reduced, 1);
EXPECT_EQ(num_param_blocks_reduced, 1);
EXPECT_EQ(num_params_reduced, 1);
// --------------------------- solve
std::string report = solver_ceres->solve(SolverManager::ReportVerbosity::QUIET);
// --------------------------- check summary parameters & residuals
ASSERT_EQ(solver_ceres->getSummary().num_parameter_blocks_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_parameters_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_residual_blocks_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_residuals_reduced, 3);
EXPECT_EQ(solver_ceres->getSummary().num_parameter_blocks_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_parameters_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_residual_blocks_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_residuals_reduced, 3);
// --------------------------- check solver solution
ASSERT_MATRIX_APPROX(frame_ptr->getO()->getState(), o_map_base, 1e-6);
EXPECT_MATRIX_APPROX(frame_ptr->getO()->getState(), o_map_base, 1e-6);
}
/*
......@@ -235,25 +236,28 @@ TEST(FactorGnssFix2dTest, gnss_1_enu_map_yaw)
// --------------------------- update solver
solver_ceres->update();
EXPECT_TRUE(solver_ceres->check());
// --------------------------- check problem parameters
int num_params_reduced, num_param_blocks_reduced;
computeParamSizes(solver_ceres, num_params_reduced, num_param_blocks_reduced);
ASSERT_EQ(num_param_blocks_reduced, 1);
ASSERT_EQ(num_params_reduced, 1);
EXPECT_EQ(num_param_blocks_reduced, 1);
EXPECT_EQ(num_params_reduced, 1);
// --------------------------- solve
std::string report = solver_ceres->solve(SolverManager::ReportVerbosity::QUIET);
std::string report = solver_ceres->solve(SolverManager::ReportVerbosity::FULL);
// --------------------------- check summary parameters & residuals
ASSERT_EQ(solver_ceres->getSummary().num_parameter_blocks_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_parameters_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_residual_blocks_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_residuals_reduced, 3);
EXPECT_EQ(solver_ceres->getSummary().num_parameter_blocks_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_parameters_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_residual_blocks_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_residuals_reduced, 3);
// --------------------------- check solver solution
ASSERT_MATRIX_APPROX(gnss_sensor_ptr->getEnuMapYaw()->getState(), o_enu_map, 1e-6);
EXPECT_MATRIX_APPROX(gnss_sensor_ptr->getEnuMapYaw()->getState(), o_enu_map, 1e-6);
problem_ptr->print(4,1,1,1);
}
/*
......@@ -284,20 +288,20 @@ TEST(FactorGnssFix2dTest, gnss_1_enu_map_position)
int num_params_reduced, num_param_blocks_reduced;
computeParamSizes(solver_ceres, num_params_reduced, num_param_blocks_reduced);
ASSERT_EQ(num_param_blocks_reduced, 1);
ASSERT_EQ(num_params_reduced, 3);
EXPECT_EQ(num_param_blocks_reduced, 1);
EXPECT_EQ(num_params_reduced, 3);
// --------------------------- solve
std::string report = solver_ceres->solve(SolverManager::ReportVerbosity::QUIET);
// --------------------------- check summary parameters & residuals
ASSERT_EQ(solver_ceres->getSummary().num_parameter_blocks_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_parameters_reduced, 3);
ASSERT_EQ(solver_ceres->getSummary().num_residual_blocks_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_residuals_reduced, 3);
EXPECT_EQ(solver_ceres->getSummary().num_parameter_blocks_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_parameters_reduced, 3);
EXPECT_EQ(solver_ceres->getSummary().num_residual_blocks_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_residuals_reduced, 3);
// --------------------------- check solver solution
ASSERT_MATRIX_APPROX(gnss_sensor_ptr->getEnuMapTranslation()->getState().head(2), t_enu_map.head(2), 1e-6);
EXPECT_MATRIX_APPROX(gnss_sensor_ptr->getEnuMapTranslation()->getState().head(2), t_enu_map.head(2), 1e-6);
}
/*
......@@ -328,20 +332,20 @@ TEST(FactorGnssFix2dTest, gnss_1_base_antena)
int num_params_reduced, num_param_blocks_reduced;
computeParamSizes(solver_ceres, num_params_reduced, num_param_blocks_reduced);
ASSERT_EQ(num_param_blocks_reduced, 1);
ASSERT_EQ(num_params_reduced, 3);
EXPECT_EQ(num_param_blocks_reduced, 1);
EXPECT_EQ(num_params_reduced, 3);
// --------------------------- solve
std::string report = solver_ceres->solve(SolverManager::ReportVerbosity::QUIET);
// --------------------------- check summary parameters & residuals
ASSERT_EQ(solver_ceres->getSummary().num_parameter_blocks_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_parameters_reduced, 3);
ASSERT_EQ(solver_ceres->getSummary().num_residual_blocks_reduced, 1);
ASSERT_EQ(solver_ceres->getSummary().num_residuals_reduced, 3);
EXPECT_EQ(solver_ceres->getSummary().num_parameter_blocks_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_parameters_reduced, 3);
EXPECT_EQ(solver_ceres->getSummary().num_residual_blocks_reduced, 1);
EXPECT_EQ(solver_ceres->getSummary().num_residuals_reduced, 3);
// --------------------------- check solver solution
ASSERT_MATRIX_APPROX(gnss_sensor_ptr->getP()->getState().head(2), t_base_antena.head(2), 1e-6);
EXPECT_MATRIX_APPROX(gnss_sensor_ptr->getP()->getState().head(2), t_base_antena.head(2), 1e-6);
}
int main(int argc, char **argv)
......
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