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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
372e763c
Commit
372e763c
authored
6 years ago
by
Joan Vallvé Navarro
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Removed wrong addConstrainedBy calls
parent
82589bfc
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2 merge requests
!258
Apriltag: some improvements/changes
,
!233
WIP: Apriltag
Changes
1
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1 changed file
test/gtest_factor_autodiff_apriltag.cpp
+7
-23
7 additions, 23 deletions
test/gtest_factor_autodiff_apriltag.cpp
with
7 additions
and
23 deletions
test/gtest_factor_autodiff_apriltag.cpp
+
7
−
23
View file @
372e763c
...
...
@@ -215,12 +215,8 @@ TEST_F(FactorAutodiffApriltag_class, Check_tree)
CTR_ACTIVE
);
FactorAutodiffApriltagPtr
ctr0
=
std
::
static_pointer_cast
<
FactorAutodiffApriltag
>
(
f1
->
addFactor
(
constraint
)
)
;
f1
->
addFactor
(
constraint
);
lmk1
->
addConstrainedBy
(
constraint
);
//check is returning true even without the lines below....
WOLF_WARN
(
"I think the lines below are needed... to be checked !"
)
F1
->
addConstrainedBy
(
constraint
);
f1
->
addConstrainedBy
(
constraint
);
ASSERT_TRUE
(
problem
->
check
(
0
));
}
...
...
@@ -236,10 +232,8 @@ TEST_F(FactorAutodiffApriltag_class, solve_F1_P_perturbated)
CTR_ACTIVE
);
FactorAutodiffApriltagPtr
ctr0
=
std
::
static_pointer_cast
<
FactorAutodiffApriltag
>
(
f1
->
addFactor
(
constraint
)
)
;
f1
->
addFactor
(
constraint
);
lmk1
->
addConstrainedBy
(
constraint
);
F1
->
addConstrainedBy
(
constraint
);
f1
->
addConstrainedBy
(
constraint
);
// unfix F1, perturbate state
F1
->
unfix
();
...
...
@@ -274,10 +268,8 @@ TEST_F(FactorAutodiffApriltag_class, solve_F1_O_perturbated)
CTR_ACTIVE
);
FactorAutodiffApriltagPtr
ctr0
=
std
::
static_pointer_cast
<
FactorAutodiffApriltag
>
(
f1
->
addFactor
(
constraint
)
)
;
f1
->
addFactor
(
constraint
);
lmk1
->
addConstrainedBy
(
constraint
);
F1
->
addConstrainedBy
(
constraint
);
f1
->
addConstrainedBy
(
constraint
);
// unfix F1, perturbate state
F1
->
unfix
();
...
...
@@ -314,10 +306,8 @@ TEST_F(FactorAutodiffApriltag_class, Check_initialization)
CTR_ACTIVE
);
FactorAutodiffApriltagPtr
ctr0
=
std
::
static_pointer_cast
<
FactorAutodiffApriltag
>
(
f1
->
addFactor
(
constraint
)
)
;
f1
->
addFactor
(
constraint
);
lmk1
->
addConstrainedBy
(
constraint
);
F1
->
addConstrainedBy
(
constraint
);
f1
->
addConstrainedBy
(
constraint
);
ASSERT_MATRIX_APPROX
(
F1
->
getState
(),
pose_robot
,
1e-6
);
ASSERT_MATRIX_APPROX
(
f1
->
getMeasurement
(),
pose_landmark
,
1e-6
);
...
...
@@ -336,10 +326,8 @@ TEST_F(FactorAutodiffApriltag_class, solve_L1_P_perturbated)
CTR_ACTIVE
);
FactorAutodiffApriltagPtr
ctr0
=
std
::
static_pointer_cast
<
FactorAutodiffApriltag
>
(
f1
->
addFactor
(
constraint
)
)
;
f1
->
addFactor
(
constraint
);
lmk1
->
addConstrainedBy
(
constraint
);
F1
->
addConstrainedBy
(
constraint
);
f1
->
addConstrainedBy
(
constraint
);
// unfix lmk1, perturbate state
...
...
@@ -375,10 +363,8 @@ TEST_F(FactorAutodiffApriltag_class, solve_L1_O_perturbated)
CTR_ACTIVE
);
FactorAutodiffApriltagPtr
ctr0
=
std
::
static_pointer_cast
<
FactorAutodiffApriltag
>
(
f1
->
addFactor
(
constraint
)
)
;
f1
->
addFactor
(
constraint
);
lmk1
->
addConstrainedBy
(
constraint
);
F1
->
addConstrainedBy
(
constraint
);
f1
->
addConstrainedBy
(
constraint
);
// unfix F1, perturbate state
lmk1
->
unfix
();
...
...
@@ -414,10 +400,8 @@ TEST_F(FactorAutodiffApriltag_class, solve_L1_PO_perturbated)
CTR_ACTIVE
);
FactorAutodiffApriltagPtr
ctr0
=
std
::
static_pointer_cast
<
FactorAutodiffApriltag
>
(
f1
->
addFactor
(
constraint
)
)
;
f1
->
addFactor
(
constraint
);
lmk1
->
addConstrainedBy
(
constraint
);
F1
->
addConstrainedBy
(
constraint
);
f1
->
addConstrainedBy
(
constraint
);
// Change setup
Vector3s
p_w_r
,
p_r_c
,
p_c_l
,
p_w_l
;
...
...
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