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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
42fc32ec
Commit
42fc32ec
authored
6 years ago
by
Joan Vallvé Navarro
Browse files
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Plain Diff
gtest_map_yaml working
parent
26ba2e2d
No related branches found
No related tags found
1 merge request
!278
Resolve "Revisit demos (formerly called examples) and update them"
Changes
3
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3 changed files
src/landmark/landmark_base.cpp
+2
-3
2 additions, 3 deletions
src/landmark/landmark_base.cpp
src/map/map_base.cpp
+1
-1
1 addition, 1 deletion
src/map/map_base.cpp
test/gtest_map_yaml.cpp
+178
-19
178 additions, 19 deletions
test/gtest_map_yaml.cpp
with
181 additions
and
23 deletions
src/landmark/landmark_base.cpp
+
2
−
3
View file @
42fc32ec
...
@@ -189,12 +189,11 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node)
...
@@ -189,12 +189,11 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node)
unsigned
int
id
=
_node
[
"id"
]
.
as
<
unsigned
int
>
();
unsigned
int
id
=
_node
[
"id"
]
.
as
<
unsigned
int
>
();
Eigen
::
VectorXs
pos
=
_node
[
"position"
]
.
as
<
Eigen
::
VectorXs
>
();
Eigen
::
VectorXs
pos
=
_node
[
"position"
]
.
as
<
Eigen
::
VectorXs
>
();
bool
pos_fixed
=
_node
[
"position fixed"
]
.
as
<
bool
>
();
bool
pos_fixed
=
_node
[
"position fixed"
]
.
as
<
bool
>
();
std
::
string
type
=
_node
[
"type"
]
.
as
<
std
::
string
>
();
StateBlockPtr
pos_sb
=
std
::
make_shared
<
StateBlock
>
(
pos
,
pos_fixed
);
StateBlockPtr
pos_sb
=
std
::
make_shared
<
StateBlock
>
(
pos
,
pos_fixed
);
StateBlockPtr
ori_sb
=
nullptr
;
StateBlockPtr
ori_sb
=
nullptr
;
if
(
!
_node
[
"orientation"
]
.
as
<
std
::
string
>
().
empty
()
)
if
(
_node
[
"orientation"
])
{
{
Eigen
::
VectorXs
ori
=
_node
[
"orientation"
].
as
<
Eigen
::
VectorXs
>
();
Eigen
::
VectorXs
ori
=
_node
[
"orientation"
].
as
<
Eigen
::
VectorXs
>
();
bool
ori_fixed
=
_node
[
"orientation fixed"
].
as
<
bool
>
();
bool
ori_fixed
=
_node
[
"orientation fixed"
].
as
<
bool
>
();
...
@@ -205,7 +204,7 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node)
...
@@ -205,7 +204,7 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node)
ori_sb
=
std
::
make_shared
<
StateBlock
>
(
ori
,
ori_fixed
);
ori_sb
=
std
::
make_shared
<
StateBlock
>
(
ori
,
ori_fixed
);
}
}
LandmarkBasePtr
lmk
=
std
::
make_shared
<
LandmarkBase
>
(
type
,
pos_sb
,
ori_sb
);
LandmarkBasePtr
lmk
=
std
::
make_shared
<
LandmarkBase
>
(
"BASE"
,
pos_sb
,
ori_sb
);
lmk
->
setId
(
id
);
lmk
->
setId
(
id
);
return
lmk
;
return
lmk
;
...
...
This diff is collapsed.
Click to expand it.
src/map/map_base.cpp
+
1
−
1
View file @
42fc32ec
...
@@ -61,7 +61,7 @@ void MapBase::load(const std::string& _map_file_dot_yaml)
...
@@ -61,7 +61,7 @@ void MapBase::load(const std::string& _map_file_dot_yaml)
{
{
YAML
::
Node
lmk_node
=
map
[
"landmarks"
][
i
];
YAML
::
Node
lmk_node
=
map
[
"landmarks"
][
i
];
LandmarkBasePtr
lmk_ptr
=
LandmarkFactory
::
get
().
create
(
lmk_node
[
"type"
].
as
<
std
::
string
>
(),
lmk_node
);
LandmarkBasePtr
lmk_ptr
=
LandmarkFactory
::
get
().
create
(
lmk_node
[
"type"
].
as
<
std
::
string
>
(),
lmk_node
);
addLandmark
(
lmk_ptr
);
lmk_ptr
->
link
(
shared_from_this
()
);
}
}
}
}
...
...
This diff is collapsed.
Click to expand it.
test/gtest_map_yaml.cpp
+
178
−
19
View file @
42fc32ec
...
@@ -11,28 +11,12 @@
...
@@ -11,28 +11,12 @@
#include
"core/map/map_base.h"
#include
"core/map/map_base.h"
#include
"core/landmark/landmark_base.h"
#include
"core/landmark/landmark_base.h"
#include
"core/state_block/state_block.h"
#include
"core/state_block/state_block.h"
#include
"core/state_block/state_quaternion.h"
#include
"core/yaml/yaml_conversion.h"
#include
"core/yaml/yaml_conversion.h"
#include
<iostream>
#include
<iostream>
using
namespace
wolf
;
using
namespace
wolf
;
void
print
(
MapBase
&
_map
)
{
for
(
auto
lmk_ptr
:
_map
.
getLandmarkList
())
{
std
::
cout
<<
"Lmk ID: "
<<
lmk_ptr
->
id
()
<<
std
::
endl
;
std
::
cout
<<
"
\t
Lmk type: "
<<
lmk_ptr
->
getType
()
<<
std
::
endl
;
if
(
lmk_ptr
->
getType
()
==
"BASE"
)
{
std
::
cout
<<
"
\t
pos: "
<<
lmk_ptr
->
getP
()
->
getState
().
transpose
()
<<
(
lmk_ptr
->
getP
()
->
isFixed
()
?
" -- fixed"
:
" -- estimated
\n
"
);
if
(
lmk_ptr
->
getO
())
std
::
cout
<<
"
\t
ori: "
<<
lmk_ptr
->
getO
()
->
getState
().
transpose
()
<<
(
lmk_ptr
->
getO
()
->
isFixed
()
?
" -- fixed"
:
" -- estimated
\n
"
);
else
std
::
cout
<<
"
\t
ori: none
\n
"
;
}
}
}
TEST
(
MapYaml
,
save_2D
)
TEST
(
MapYaml
,
save_2D
)
{
{
ProblemPtr
problem
=
Problem
::
create
(
"PO"
,
2
);
ProblemPtr
problem
=
Problem
::
create
(
"PO"
,
2
);
...
@@ -46,22 +30,24 @@ TEST(MapYaml, save_2D)
...
@@ -46,22 +30,24 @@ TEST(MapYaml, save_2D)
o3
<<
3
;
o3
<<
3
;
StateBlockPtr
p1_sb
=
std
::
make_shared
<
StateBlock
>
(
p1
);
StateBlockPtr
p1_sb
=
std
::
make_shared
<
StateBlock
>
(
p1
);
StateBlockPtr
o1_sb
=
nullptr
;
StateBlockPtr
p2_sb
=
std
::
make_shared
<
StateBlock
>
(
p2
);
StateBlockPtr
p2_sb
=
std
::
make_shared
<
StateBlock
>
(
p2
);
StateBlockPtr
o2_sb
=
std
::
make_shared
<
StateBlock
>
(
o2
);
StateBlockPtr
o2_sb
=
std
::
make_shared
<
StateBlock
>
(
o2
);
StateBlockPtr
p3_sb
=
std
::
make_shared
<
StateBlock
>
(
p3
,
true
);
StateBlockPtr
p3_sb
=
std
::
make_shared
<
StateBlock
>
(
p3
,
true
);
StateBlockPtr
o3_sb
=
std
::
make_shared
<
StateBlock
>
(
o3
,
true
);
StateBlockPtr
o3_sb
=
std
::
make_shared
<
StateBlock
>
(
o3
,
true
);
LandmarkBase
::
emplace
<
LandmarkBase
>
(
problem
->
getMap
(),
"BASE"
,
p1_sb
,
o1_sb
);
LandmarkBase
::
emplace
<
LandmarkBase
>
(
problem
->
getMap
(),
"BASE"
,
p1_sb
);
LandmarkBase
::
emplace
<
LandmarkBase
>
(
problem
->
getMap
(),
"BASE"
,
p2_sb
,
o2_sb
);
LandmarkBase
::
emplace
<
LandmarkBase
>
(
problem
->
getMap
(),
"BASE"
,
p2_sb
,
o2_sb
);
LandmarkBase
::
emplace
<
LandmarkBase
>
(
problem
->
getMap
(),
"BASE"
,
p3_sb
,
o3_sb
);
LandmarkBase
::
emplace
<
LandmarkBase
>
(
problem
->
getMap
(),
"BASE"
,
p3_sb
,
o3_sb
);
std
::
string
wolf_root
=
_WOLF_ROOT_DIR
;
std
::
string
wolf_root
=
_WOLF_ROOT_DIR
;
std
::
string
map_path
=
wolf_root
+
"/test/yaml"
;
std
::
string
map_path
=
wolf_root
+
"/test/yaml"
;
// Check Problem functions
std
::
string
filename
=
map_path
+
"/map_2D_problem.yaml"
;
std
::
string
filename
=
map_path
+
"/map_2D_problem.yaml"
;
std
::
cout
<<
"Saving map to file: "
<<
filename
<<
std
::
endl
;
std
::
cout
<<
"Saving map to file: "
<<
filename
<<
std
::
endl
;
problem
->
saveMap
(
filename
,
"2D map saved from Problem::saveMap()"
);
problem
->
saveMap
(
filename
,
"2D map saved from Problem::saveMap()"
);
// Check Map functions
filename
=
map_path
+
"/map_2D_map.yaml"
;
filename
=
map_path
+
"/map_2D_map.yaml"
;
std
::
cout
<<
"Saving map to file: "
<<
filename
<<
std
::
endl
;
std
::
cout
<<
"Saving map to file: "
<<
filename
<<
std
::
endl
;
problem
->
getMap
()
->
save
(
filename
,
"2D map saved from Map::save()"
);
problem
->
getMap
()
->
save
(
filename
,
"2D map saved from Map::save()"
);
...
@@ -73,6 +59,8 @@ TEST(MapYaml, load_2D)
...
@@ -73,6 +59,8 @@ TEST(MapYaml, load_2D)
std
::
string
wolf_root
=
_WOLF_ROOT_DIR
;
std
::
string
wolf_root
=
_WOLF_ROOT_DIR
;
std
::
string
map_path
=
wolf_root
+
"/test/yaml"
;
std
::
string
map_path
=
wolf_root
+
"/test/yaml"
;
// Check Problem functions
std
::
string
filename
=
map_path
+
"/map_2D_problem.yaml"
;
std
::
string
filename
=
map_path
+
"/map_2D_problem.yaml"
;
std
::
cout
<<
"Loading map to file: "
<<
filename
<<
std
::
endl
;
std
::
cout
<<
"Loading map to file: "
<<
filename
<<
std
::
endl
;
problem
->
loadMap
(
filename
);
problem
->
loadMap
(
filename
);
...
@@ -98,16 +86,187 @@ TEST(MapYaml, load_2D)
...
@@ -98,16 +86,187 @@ TEST(MapYaml, load_2D)
ASSERT_FALSE
(
lmk
->
getO
()
->
isFixed
());
ASSERT_FALSE
(
lmk
->
getO
()
->
isFixed
());
}
}
else
if
(
lmk
->
id
()
==
3
)
else
if
(
lmk
->
id
()
==
3
)
{
ASSERT_TRUE
(
lmk
->
getP
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getO
()
!=
nullptr
);
ASSERT_MATRIX_APPROX
(
lmk
->
getP
()
->
getState
(),
(
Eigen
::
Vector2s
()
<<
5
,
6
).
finished
(),
1e-12
);
ASSERT_MATRIX_APPROX
(
lmk
->
getO
()
->
getState
(),
(
Eigen
::
Vector1s
()
<<
3
).
finished
(),
1e-12
);
ASSERT_TRUE
(
lmk
->
getP
()
->
isFixed
());
ASSERT_TRUE
(
lmk
->
getO
()
->
isFixed
());
}
}
// empty the map
{
auto
lmk_list
=
problem
->
getMap
()
->
getLandmarkList
();
for
(
auto
lmk
:
lmk_list
)
lmk
->
remove
();
}
ASSERT_TRUE
(
problem
->
getMap
()
->
getLandmarkList
().
empty
());
// Check Map functions
filename
=
map_path
+
"/map_2D_map.yaml"
;
std
::
cout
<<
"Loading map to file: "
<<
filename
<<
std
::
endl
;
problem
->
getMap
()
->
load
(
filename
);
ASSERT_EQ
(
problem
->
getMap
()
->
getLandmarkList
().
size
(),
3
);
for
(
auto
lmk
:
problem
->
getMap
()
->
getLandmarkList
())
{
if
(
lmk
->
id
()
==
1
)
{
ASSERT_TRUE
(
lmk
->
getP
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getO
()
==
nullptr
);
ASSERT_MATRIX_APPROX
(
lmk
->
getP
()
->
getState
(),
(
Eigen
::
Vector2s
()
<<
1
,
2
).
finished
(),
1e-12
);
ASSERT_FALSE
(
lmk
->
getP
()
->
isFixed
());
}
else
if
(
lmk
->
id
()
==
2
)
{
{
ASSERT_TRUE
(
lmk
->
getP
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getP
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getO
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getO
()
!=
nullptr
);
ASSERT_MATRIX_APPROX
(
lmk
->
getP
()
->
getState
(),
(
Eigen
::
Vector2s
()
<<
3
,
4
).
finished
(),
1e-12
);
ASSERT_MATRIX_APPROX
(
lmk
->
getP
()
->
getState
(),
(
Eigen
::
Vector2s
()
<<
3
,
4
).
finished
(),
1e-12
);
ASSERT_MATRIX_APPROX
(
lmk
->
getO
()
->
getState
(),
(
Eigen
::
Vector1s
()
<<
2
).
finished
(),
1e-12
);
ASSERT_MATRIX_APPROX
(
lmk
->
getO
()
->
getState
(),
(
Eigen
::
Vector1s
()
<<
2
).
finished
(),
1e-12
);
ASSERT_FALSE
(
lmk
->
getP
()
->
isFixed
());
ASSERT_FALSE
(
lmk
->
getO
()
->
isFixed
());
}
else
if
(
lmk
->
id
()
==
3
)
{
ASSERT_TRUE
(
lmk
->
getP
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getO
()
!=
nullptr
);
ASSERT_MATRIX_APPROX
(
lmk
->
getP
()
->
getState
(),
(
Eigen
::
Vector2s
()
<<
5
,
6
).
finished
(),
1e-12
);
ASSERT_MATRIX_APPROX
(
lmk
->
getO
()
->
getState
(),
(
Eigen
::
Vector1s
()
<<
3
).
finished
(),
1e-12
);
ASSERT_TRUE
(
lmk
->
getP
()
->
isFixed
());
ASSERT_TRUE
(
lmk
->
getP
()
->
isFixed
());
ASSERT_TRUE
(
lmk
->
getO
()
->
isFixed
());
ASSERT_TRUE
(
lmk
->
getO
()
->
isFixed
());
}
}
}
}
}
}
TEST
(
MapYaml
,
save_3D
)
{
ProblemPtr
problem
=
Problem
::
create
(
"PO"
,
3
);
Eigen
::
Vector3s
p1
,
p2
,
p3
;
Eigen
::
Vector4s
q2
,
q3
;
p1
<<
1
,
2
,
3
;
p2
<<
4
,
5
,
6
;
p3
<<
7
,
8
,
9
;
q2
<<
0
,
1
,
0
,
0
;
q3
<<
0
,
0
,
1
,
0
;
auto
p1_sb
=
std
::
make_shared
<
StateBlock
>
(
p1
);
auto
p2_sb
=
std
::
make_shared
<
StateBlock
>
(
p2
);
auto
q2_sb
=
std
::
make_shared
<
StateQuaternion
>
(
q2
);
auto
p3_sb
=
std
::
make_shared
<
StateBlock
>
(
p3
,
true
);
auto
q3_sb
=
std
::
make_shared
<
StateQuaternion
>
(
q3
,
true
);
LandmarkBase
::
emplace
<
LandmarkBase
>
(
problem
->
getMap
(),
"BASE"
,
p1_sb
);
LandmarkBase
::
emplace
<
LandmarkBase
>
(
problem
->
getMap
(),
"BASE"
,
p2_sb
,
q2_sb
);
LandmarkBase
::
emplace
<
LandmarkBase
>
(
problem
->
getMap
(),
"BASE"
,
p3_sb
,
q3_sb
);
std
::
string
wolf_root
=
_WOLF_ROOT_DIR
;
std
::
string
map_path
=
wolf_root
+
"/test/yaml"
;
// Check Problem functions
std
::
string
filename
=
map_path
+
"/map_3D_problem.yaml"
;
std
::
cout
<<
"Saving map to file: "
<<
filename
<<
std
::
endl
;
problem
->
saveMap
(
filename
,
"3D map saved from Problem::saveMap()"
);
// Check Map functions
filename
=
map_path
+
"/map_3D_map.yaml"
;
std
::
cout
<<
"Saving map to file: "
<<
filename
<<
std
::
endl
;
problem
->
getMap
()
->
save
(
filename
,
"3D map saved from Map::save()"
);
}
TEST
(
MapYaml
,
load_3D
)
{
ProblemPtr
problem
=
Problem
::
create
(
"PO"
,
3
);
std
::
string
wolf_root
=
_WOLF_ROOT_DIR
;
std
::
string
map_path
=
wolf_root
+
"/test/yaml"
;
// Check Problem functions
std
::
string
filename
=
map_path
+
"/map_3D_problem.yaml"
;
std
::
cout
<<
"Loading map to file: "
<<
filename
<<
std
::
endl
;
problem
->
loadMap
(
filename
);
ASSERT_EQ
(
problem
->
getMap
()
->
getLandmarkList
().
size
(),
3
);
for
(
auto
lmk
:
problem
->
getMap
()
->
getLandmarkList
())
{
if
(
lmk
->
id
()
==
1
)
{
ASSERT_TRUE
(
lmk
->
getP
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getO
()
==
nullptr
);
ASSERT_MATRIX_APPROX
(
lmk
->
getP
()
->
getState
(),
(
Eigen
::
Vector3s
()
<<
1
,
2
,
3
).
finished
(),
1e-12
);
ASSERT_FALSE
(
lmk
->
getP
()
->
isFixed
());
}
else
if
(
lmk
->
id
()
==
2
)
{
ASSERT_TRUE
(
lmk
->
getP
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getO
()
!=
nullptr
);
ASSERT_MATRIX_APPROX
(
lmk
->
getP
()
->
getState
(),
(
Eigen
::
Vector3s
()
<<
4
,
5
,
6
).
finished
(),
1e-12
);
ASSERT_MATRIX_APPROX
(
lmk
->
getO
()
->
getState
(),
(
Eigen
::
Vector4s
()
<<
0
,
1
,
0
,
0
).
finished
(),
1e-12
);
ASSERT_FALSE
(
lmk
->
getP
()
->
isFixed
());
ASSERT_FALSE
(
lmk
->
getO
()
->
isFixed
());
// TODO check if localparameterization of type quaternion
}
else
if
(
lmk
->
id
()
==
3
)
{
ASSERT_TRUE
(
lmk
->
getP
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getO
()
!=
nullptr
);
ASSERT_MATRIX_APPROX
(
lmk
->
getP
()
->
getState
(),
(
Eigen
::
Vector3s
()
<<
7
,
8
,
9
).
finished
(),
1e-12
);
ASSERT_MATRIX_APPROX
(
lmk
->
getO
()
->
getState
(),
(
Eigen
::
Vector4s
()
<<
0
,
0
,
1
,
0
).
finished
(),
1e-12
);
ASSERT_TRUE
(
lmk
->
getP
()
->
isFixed
());
ASSERT_TRUE
(
lmk
->
getO
()
->
isFixed
());
// TODO check if localparameterization of type quaternion
}
}
// empty the map
{
auto
lmk_list
=
problem
->
getMap
()
->
getLandmarkList
();
for
(
auto
lmk
:
lmk_list
)
lmk
->
remove
();
}
ASSERT_TRUE
(
problem
->
getMap
()
->
getLandmarkList
().
empty
());
// Check Map functions
filename
=
map_path
+
"/map_3D_map.yaml"
;
std
::
cout
<<
"Loading map to file: "
<<
filename
<<
std
::
endl
;
problem
->
getMap
()
->
load
(
filename
);
ASSERT_EQ
(
problem
->
getMap
()
->
getLandmarkList
().
size
(),
3
);
for
(
auto
lmk
:
problem
->
getMap
()
->
getLandmarkList
())
{
if
(
lmk
->
id
()
==
1
)
{
ASSERT_TRUE
(
lmk
->
getP
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getO
()
==
nullptr
);
ASSERT_MATRIX_APPROX
(
lmk
->
getP
()
->
getState
(),
(
Eigen
::
Vector3s
()
<<
1
,
2
,
3
).
finished
(),
1e-12
);
ASSERT_FALSE
(
lmk
->
getP
()
->
isFixed
());
}
else
if
(
lmk
->
id
()
==
2
)
{
ASSERT_TRUE
(
lmk
->
getP
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getO
()
!=
nullptr
);
ASSERT_MATRIX_APPROX
(
lmk
->
getP
()
->
getState
(),
(
Eigen
::
Vector3s
()
<<
4
,
5
,
6
).
finished
(),
1e-12
);
ASSERT_MATRIX_APPROX
(
lmk
->
getO
()
->
getState
(),
(
Eigen
::
Vector4s
()
<<
0
,
1
,
0
,
0
).
finished
(),
1e-12
);
ASSERT_FALSE
(
lmk
->
getP
()
->
isFixed
());
ASSERT_FALSE
(
lmk
->
getO
()
->
isFixed
());
// TODO check if localparameterization of type quaternion
}
else
if
(
lmk
->
id
()
==
3
)
{
ASSERT_TRUE
(
lmk
->
getP
()
!=
nullptr
);
ASSERT_TRUE
(
lmk
->
getO
()
!=
nullptr
);
ASSERT_MATRIX_APPROX
(
lmk
->
getP
()
->
getState
(),
(
Eigen
::
Vector3s
()
<<
7
,
8
,
9
).
finished
(),
1e-12
);
ASSERT_MATRIX_APPROX
(
lmk
->
getO
()
->
getState
(),
(
Eigen
::
Vector4s
()
<<
0
,
0
,
1
,
0
).
finished
(),
1e-12
);
ASSERT_TRUE
(
lmk
->
getP
()
->
isFixed
());
ASSERT_TRUE
(
lmk
->
getO
()
->
isFixed
());
// TODO check if localparameterization of type quaternion
}
}
}
int
main
(
int
argc
,
char
**
argv
)
int
main
(
int
argc
,
char
**
argv
)
{
{
...
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