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db3a735f
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Commit
db3a735f
authored
7 years ago
by
Jeremie Deray
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fix gtest_constraint_autodiff compile
parent
4cdfd364
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src/test/gtest_constraint_autodiff.cpp
+24
-3
24 additions, 3 deletions
src/test/gtest_constraint_autodiff.cpp
with
24 additions
and
3 deletions
src/test/gtest_constraint_autodiff.cpp
+
24
−
3
View file @
db3a735f
...
@@ -74,7 +74,14 @@ TEST(CaptureAutodiff, ResidualOdom2d)
...
@@ -74,7 +74,14 @@ TEST(CaptureAutodiff, ResidualOdom2d)
fr1_ptr
->
addConstrainedBy
(
constraint_ptr
);
fr1_ptr
->
addConstrainedBy
(
constraint_ptr
);
// EVALUATE
// EVALUATE
std
::
vector
<
Scalar
*>
states_ptr
({
fr1_ptr
->
getPPtr
()
->
getPtr
(),
fr1_ptr
->
getOPtr
()
->
getPtr
(),
fr2_ptr
->
getPPtr
()
->
getPtr
(),
fr2_ptr
->
getOPtr
()
->
getPtr
()});
Eigen
::
VectorXs
fr1_pstate
=
fr1_ptr
->
getPPtr
()
->
getState
();
Eigen
::
VectorXs
fr1_ostate
=
fr1_ptr
->
getOPtr
()
->
getState
();
Eigen
::
VectorXs
fr2_pstate
=
fr2_ptr
->
getPPtr
()
->
getState
();
Eigen
::
VectorXs
fr2_ostate
=
fr2_ptr
->
getOPtr
()
->
getState
();
std
::
vector
<
Scalar
*>
states_ptr
({
fr1_pstate
.
data
(),
fr1_ostate
.
data
(),
fr2_pstate
.
data
(),
fr2_ostate
.
data
()});
double
const
*
const
*
parameters
=
states_ptr
.
data
();
double
const
*
const
*
parameters
=
states_ptr
.
data
();
Eigen
::
VectorXs
residuals
(
constraint_ptr
->
getSize
());
Eigen
::
VectorXs
residuals
(
constraint_ptr
->
getSize
());
constraint_ptr
->
evaluate
(
parameters
,
residuals
.
data
(),
nullptr
);
constraint_ptr
->
evaluate
(
parameters
,
residuals
.
data
(),
nullptr
);
...
@@ -111,7 +118,14 @@ TEST(CaptureAutodiff, JacobianOdom2d)
...
@@ -111,7 +118,14 @@ TEST(CaptureAutodiff, JacobianOdom2d)
fr1_ptr
->
addConstrainedBy
(
constraint_ptr
);
fr1_ptr
->
addConstrainedBy
(
constraint_ptr
);
// COMPUTE JACOBIANS
// COMPUTE JACOBIANS
std
::
vector
<
const
Scalar
*>
states_ptr
({
fr1_ptr
->
getPPtr
()
->
getPtr
(),
fr1_ptr
->
getOPtr
()
->
getPtr
(),
fr2_ptr
->
getPPtr
()
->
getPtr
(),
fr2_ptr
->
getOPtr
()
->
getPtr
()});
const
Eigen
::
VectorXs
fr1_pstate
=
fr1_ptr
->
getPPtr
()
->
getState
();
const
Eigen
::
VectorXs
fr1_ostate
=
fr1_ptr
->
getOPtr
()
->
getState
();
const
Eigen
::
VectorXs
fr2_pstate
=
fr2_ptr
->
getPPtr
()
->
getState
();
const
Eigen
::
VectorXs
fr2_ostate
=
fr2_ptr
->
getOPtr
()
->
getState
();
std
::
vector
<
const
Scalar
*>
states_ptr
({
fr1_pstate
.
data
(),
fr1_ostate
.
data
(),
fr2_pstate
.
data
(),
fr2_ostate
.
data
()});
std
::
vector
<
Eigen
::
MatrixXs
>
Jauto
;
std
::
vector
<
Eigen
::
MatrixXs
>
Jauto
;
Eigen
::
VectorXs
residuals
(
constraint_ptr
->
getSize
());
Eigen
::
VectorXs
residuals
(
constraint_ptr
->
getSize
());
constraint_ptr
->
evaluate
(
states_ptr
,
residuals
,
Jauto
);
constraint_ptr
->
evaluate
(
states_ptr
,
residuals
,
Jauto
);
...
@@ -186,7 +200,14 @@ TEST(CaptureAutodiff, AutodiffVsAnalytic)
...
@@ -186,7 +200,14 @@ TEST(CaptureAutodiff, AutodiffVsAnalytic)
fr1_ptr
->
addConstrainedBy
(
ctr_analytic_ptr
);
fr1_ptr
->
addConstrainedBy
(
ctr_analytic_ptr
);
// COMPUTE JACOBIANS
// COMPUTE JACOBIANS
std
::
vector
<
const
Scalar
*>
states_ptr
({
fr1_ptr
->
getPPtr
()
->
getPtr
(),
fr1_ptr
->
getOPtr
()
->
getPtr
(),
fr2_ptr
->
getPPtr
()
->
getPtr
(),
fr2_ptr
->
getOPtr
()
->
getPtr
()});
const
Eigen
::
VectorXs
fr1_pstate
=
fr1_ptr
->
getPPtr
()
->
getState
();
const
Eigen
::
VectorXs
fr1_ostate
=
fr1_ptr
->
getOPtr
()
->
getState
();
const
Eigen
::
VectorXs
fr2_pstate
=
fr2_ptr
->
getPPtr
()
->
getState
();
const
Eigen
::
VectorXs
fr2_ostate
=
fr2_ptr
->
getOPtr
()
->
getState
();
std
::
vector
<
const
Scalar
*>
states_ptr
({
fr1_pstate
.
data
(),
fr1_ostate
.
data
(),
fr2_pstate
.
data
(),
fr2_ostate
.
data
()});
std
::
vector
<
Eigen
::
MatrixXs
>
Jautodiff
,
Janalytic
;
std
::
vector
<
Eigen
::
MatrixXs
>
Jautodiff
,
Janalytic
;
Eigen
::
VectorXs
residuals
(
ctr_autodiff_ptr
->
getSize
());
Eigen
::
VectorXs
residuals
(
ctr_autodiff_ptr
->
getSize
());
clock_t
t
=
clock
();
clock_t
t
=
clock
();
...
...
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