Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
wolf
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Container Registry
Model registry
Operate
Environments
Monitor
Incidents
Service Desk
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
dd670363
Commit
dd670363
authored
8 years ago
by
Joan Solà Ortega
Browse files
Options
Downloads
Patches
Plain Diff
setState() and getState() use a simplified design
Tested with gtest and working
parent
ee38493d
No related branches found
Branches containing commit
No related tags found
No related merge requests found
Changes
2
Hide whitespace changes
Inline
Side-by-side
Showing
2 changed files
src/frame_base.cpp
+25
-41
25 additions, 41 deletions
src/frame_base.cpp
src/test/gtest_frame_base.cpp
+35
-0
35 additions, 0 deletions
src/test/gtest_frame_base.cpp
with
60 additions
and
41 deletions
src/frame_base.cpp
+
25
−
41
View file @
dd670363
...
@@ -131,36 +131,25 @@ void FrameBase::setState(const Eigen::VectorXs& _st)
...
@@ -131,36 +131,25 @@ void FrameBase::setState(const Eigen::VectorXs& _st)
st_check
+=
(
state_block_vec_
[
i
]
==
nullptr
?
0
:
state_block_vec_
[
i
]
->
getSize
());
st_check
+=
(
state_block_vec_
[
i
]
==
nullptr
?
0
:
state_block_vec_
[
i
]
->
getSize
());
}
}
/*assert(_st.size() == ((getPPtr()==nullptr ? 0 : getPPtr()->getSize()) +
(getOPtr()==nullptr ? 0 : getOPtr()->getSize()) +
(getVPtr()==nullptr ? 0 : getVPtr()->getSize())) &&
"In FrameBase::setState wrong state size");*/
assert
(
_st
.
size
()
==
st_check
&&
"In FrameBase::setState wrong state size"
);
assert
(
_st
.
size
()
==
st_check
&&
"In FrameBase::setState wrong state size"
);
unsigned
int
index
=
0
;
unsigned
int
index
=
0
;
if
(
getPPtr
()
!=
nullptr
)
{
for
(
StateBlockPtr
sb
:
state_block_vec_
)
getPPtr
()
->
setVector
(
_st
.
head
(
getPPtr
()
->
getSize
()));
if
(
sb
)
index
+=
getPPtr
()
->
getSize
();
{
}
sb
->
setVector
(
_st
.
segment
(
index
,
sb
->
getSize
()));
if
(
getOPtr
()
!=
nullptr
)
index
+=
sb
->
getSize
();
{
}
getOPtr
()
->
setVector
(
_st
.
segment
(
index
,
getOPtr
()
->
getSize
()));
index
+=
getOPtr
()
->
getSize
();
}
if
(
getVPtr
()
!=
nullptr
)
{
getVPtr
()
->
setVector
(
_st
.
segment
(
index
,
getVPtr
()
->
getSize
()));
// index += getVPtr()->getSize();
}
}
}
Eigen
::
VectorXs
FrameBase
::
getState
()
const
Eigen
::
VectorXs
FrameBase
::
getState
()
const
{
{
Eigen
::
VectorXs
state
((
getPPtr
()
==
nullptr
?
0
:
getPPtr
()
->
getSize
())
+
Size
sz
=
0
;
(
getOPtr
()
==
nullptr
?
0
:
getOPtr
()
->
getSize
())
+
for
(
auto
sb
:
state_block_vec_
)
(
getVPtr
()
==
nullptr
?
0
:
getVPtr
()
->
getSize
()));
if
(
sb
)
sz
+=
sb
->
getSize
();
Eigen
::
VectorXs
state
(
sz
);
getState
(
state
);
getState
(
state
);
...
@@ -169,26 +158,21 @@ Eigen::VectorXs FrameBase::getState() const
...
@@ -169,26 +158,21 @@ Eigen::VectorXs FrameBase::getState() const
void
FrameBase
::
getState
(
Eigen
::
VectorXs
&
state
)
const
void
FrameBase
::
getState
(
Eigen
::
VectorXs
&
state
)
const
{
{
assert
(
state
.
size
()
==
((
getPPtr
()
==
nullptr
?
0
:
getPPtr
()
->
getSize
())
+
Size
sz
=
0
;
(
getOPtr
()
==
nullptr
?
0
:
getOPtr
()
->
getSize
())
+
for
(
auto
sb
:
state_block_vec_
)
(
getVPtr
()
==
nullptr
?
0
:
getVPtr
()
->
getSize
())));
if
(
sb
)
sz
+=
sb
->
getSize
();
assert
(
state
.
size
()
==
sz
&&
"Wrong state vector size"
);
unsigned
int
index
=
0
;
unsigned
int
index
=
0
;
if
(
getPPtr
()
!=
nullptr
)
{
for
(
auto
sb
:
state_block_vec_
)
state
.
head
(
getPPtr
()
->
getSize
())
=
getPPtr
()
->
getVector
();
if
(
sb
)
index
+=
getPPtr
()
->
getSize
();
{
}
state
.
segment
(
index
,
sb
->
getSize
())
=
sb
->
getVector
();
if
(
getOPtr
()
!=
nullptr
)
index
+=
sb
->
getSize
();
{
}
state
.
segment
(
index
,
getOPtr
()
->
getSize
())
=
getOPtr
()
->
getVector
();
index
+=
getOPtr
()
->
getSize
();
}
if
(
getVPtr
()
!=
nullptr
)
{
state
.
segment
(
index
,
getVPtr
()
->
getSize
())
=
getVPtr
()
->
getVector
();
// index += getVPtr()->getSize();
}
}
}
FrameBasePtr
FrameBase
::
getPreviousFrame
()
const
FrameBasePtr
FrameBase
::
getPreviousFrame
()
const
...
...
This diff is collapsed.
Click to expand it.
src/test/gtest_frame_base.cpp
+
35
−
0
View file @
dd670363
...
@@ -111,6 +111,41 @@ TEST(FrameBase, LinksToTree)
...
@@ -111,6 +111,41 @@ TEST(FrameBase, LinksToTree)
ASSERT_TRUE
(
F1
->
getCaptureList
().
empty
());
ASSERT_TRUE
(
F1
->
getCaptureList
().
empty
());
}
}
#include
"state_quaternion.h"
TEST
(
FrameBase
,
StateBlockVectors
)
{
// Create PQV_3D state blocks
StateBlockPtr
sbp
=
make_shared
<
StateBlock
>
(
3
);
StateBlockPtr
sbv
=
make_shared
<
StateBlock
>
(
3
);
StateQuaternionPtr
sbq
=
make_shared
<
StateQuaternion
>
();
// Create frame
FrameBase
F
(
1
,
sbp
,
sbq
,
sbv
);
// Give values to vectors and vector blocks
VectorXs
x
(
10
),
x1
(
10
),
x2
(
10
);
VectorXs
p
(
3
),
v
(
3
),
q
(
4
);
p
<<
1
,
2
,
3
;
v
<<
9
,
8
,
7
;
q
<<
.5
,
-
.5
,
.5
,
-
.5
;
x
<<
p
,
q
,
v
;
// Set the state, check that state blocks hold the current states
F
.
setState
(
x
);
ASSERT_TRUE
((
p
-
F
.
getPPtr
()
->
getVector
()).
isMuchSmallerThan
(
1
,
Constants
::
EPS_SMALL
));
ASSERT_TRUE
((
q
-
F
.
getOPtr
()
->
getVector
()).
isMuchSmallerThan
(
1
,
Constants
::
EPS_SMALL
));
ASSERT_TRUE
((
v
-
F
.
getVPtr
()
->
getVector
()).
isMuchSmallerThan
(
1
,
Constants
::
EPS_SMALL
));
// Get the state, form 1 by reference
F
.
getState
(
x1
);
ASSERT_TRUE
((
x1
-
x
).
isMuchSmallerThan
(
1
,
Constants
::
EPS_SMALL
));
// get the state, form 2 by return value
x2
=
F
.
getState
();
ASSERT_TRUE
((
x2
-
x
).
isMuchSmallerThan
(
1
,
Constants
::
EPS_SMALL
));
}
int
main
(
int
argc
,
char
**
argv
)
int
main
(
int
argc
,
char
**
argv
)
{
{
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment