added gtest for ConstraintAbs(P/O/V)

src/test/CMakeLists.txt

@@ -90,6 +90,10 @@ target_link_libraries(gtest_trajectory ${PROJECT_NAME})
 
 # ------- Now Derived classes ----------
 
+# ConstraintAbs(P/O/V) classes test
+wolf_add_gtest(gtest_constraint_absolute gtest_constraint_absolute.cpp)
+target_link_libraries(gtest_constraint_absolute ${PROJECT_NAME})
+
 # ConstraintFix3D class test
 wolf_add_gtest(gtest_constraint_fix_3D gtest_constraint_fix_3D.cpp)
 target_link_libraries(gtest_constraint_fix_3D ${PROJECT_NAME})

src/test/gtest_constraint_absolute.cpp

+/**
+ * \file gtest_constraint_absolute.cpp
+ *
+ *  Created on: Dec 9, 2017
+ *      \author: datchuth
+ */
+
+
+#include "utils_gtest.h"
+#include "constraint_absolute_position.h"
+#include "constraint_absolute_orientation.h"
+#include "constraint_absolute_velocity.h"
+#include "capture_motion.h"
+
+#include "ceres_wrapper/ceres_manager.h"
+
+
+using namespace Eigen;
+using namespace wolf;
+using std::cout;
+using std::endl;
+
+Vector10s pose9toPose10(Vector9s _pose9)
+{
+    return (Vector10s() << _pose9.head<3>() , v2q(_pose9.segment<3>(3)).coeffs(), _pose9.tail<3>()).finished();
+}
+
+// Input pose9 and covariance
+Vector9s pose(Vector9s::Random());
+Vector10s pose10 = pose9toPose10(pose);
+Vector9s data_var((Vector9s() << 0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2,0.2).finished());
+Eigen::Matrix<wolf::Scalar, 9, 9> data_cov = data_var.asDiagonal();
+
+// perturbated priors
+Vector10s x0 = pose9toPose10(pose + Vector9s::Random()*0.25);
+
+// Problem and solver
+ProblemPtr problem = Problem::create("POV 3D");
+CeresManager ceres_mgr(problem);
+
+// Two frames
+FrameBasePtr frm0 = problem->emplaceFrame(KEY_FRAME, problem->zeroState(), TimeStamp(0));
+
+// Capture, feature and constraint
+CaptureBasePtr cap0 = frm0->addCapture(std::make_shared<CaptureMotion>(0, nullptr, pose10, 10, 9, nullptr));
+//FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.head<3>(), data_cov.topLeftCorner<3,3>()));
+
+////////////////////////////////////////////////////////
+
+TEST(ConstraintAbsP, ctr_abs_p_check)
+{
+    FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.head<3>(), data_cov.topLeftCorner<3,3>()));
+    ConstraintAbsPPtr ctr0 = std::static_pointer_cast<ConstraintAbsP>(fea0->addConstraint(std::make_shared<ConstraintAbsP>(fea0)));
+    ASSERT_TRUE(problem->check(0));
+}
+
+TEST(ConstraintAbsP, ctr_abs_p_solve)
+{
+    FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.head<3>(), data_cov.topLeftCorner<3,3>()));
+    ConstraintAbsPPtr ctr0 = std::static_pointer_cast<ConstraintAbsP>(fea0->addConstraint(std::make_shared<ConstraintAbsP>(fea0)));
+    
+    // Fix frame 0, perturb frm1
+    frm0->unfix();
+    frm0->setState(x0);
+
+    // solve for frm0
+    std::string brief_report = ceres_mgr.solve(1);
+
+    //only position is constrained
+    ASSERT_MATRIX_APPROX(frm0->getState().head<3>(), pose10.head<3>(), 1e-6);
+}
+
+TEST(ConstraintAbsO, ctr_abs_o_check)
+{
+    FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.segment<4>(3), data_cov.block<3,3>(3,3)));
+    ConstraintAbsOPtr ctr0 = std::static_pointer_cast<ConstraintAbsO>(fea0->addConstraint(std::make_shared<ConstraintAbsO>(fea0)));
+    ASSERT_TRUE(problem->check(0));
+}
+
+TEST(ConstraintAbsO, ctr_abs_o_solve)
+{
+    FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.segment<4>(3), data_cov.block<3,3>(3,3)));
+    ConstraintAbsOPtr ctr0 = std::static_pointer_cast<ConstraintAbsO>(fea0->addConstraint(std::make_shared<ConstraintAbsO>(fea0)));
+    
+    // Fix frame 0, perturb frm1
+    frm0->unfix();
+    frm0->setState(x0);
+
+    // solve for frm0
+    std::string brief_report = ceres_mgr.solve(1);
+
+    //only orientation is constrained
+    ASSERT_MATRIX_APPROX(frm0->getState().segment<4>(3), pose10.segment<4>(3), 1e-6);
+}
+
+TEST(ConstraintAbsV, ctr_abs_v_check)
+{
+    FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.tail<3>(), data_cov.bottomRightCorner<3,3>()));
+    ConstraintAbsVPtr ctr0 = std::static_pointer_cast<ConstraintAbsV>(fea0->addConstraint(std::make_shared<ConstraintAbsV>(fea0)));
+    ASSERT_TRUE(problem->check(0));
+}
+
+TEST(ConstraintAbsV, ctr_abs_v_solve)
+{
+    FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.tail<3>(), data_cov.bottomRightCorner<3,3>()));
+    ConstraintAbsVPtr ctr0 = std::static_pointer_cast<ConstraintAbsV>(fea0->addConstraint(std::make_shared<ConstraintAbsV>(fea0)));
+    
+    // Fix frame 0, perturb frm1
+    frm0->unfix();
+    frm0->setState(x0);
+
+    // solve for frm0
+    std::string brief_report = ceres_mgr.solve(1);
+
+    //only velocity is constrained
+    ASSERT_MATRIX_APPROX(frm0->getState().tail<3>(), pose10.tail<3>(), 1e-6);
+}
+
+int main(int argc, char **argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
+