RBPF_SLAM_App_unittest.cpp File Reference

#include <gtest/gtest.h>
#include <mrpt/apps/RBPF_SLAM_App.h>
#include <mrpt/poses/Lie/SE.h>
#include <mrpt/system/filesystem.h>
#include <test_mrpt_common.h>
#include <iostream>

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Typedefs
using	config_changer_t = std::function< void(mrpt::config::CConfigFileBase &)>
using	post_tester_t = std::function< void(mrpt::apps::RBPF_SLAM_App_Base &)>

Functions
void	generic_rbpf_slam_test (const std::string &ini_filename, const std::string &rawlog_filename, config_changer_t cfg_changer, post_tester_t post_tester)
	TEST (RBPF_SLAM_App, MapFromRawlog_Lidar2D_optimal_sampling)
	TEST (RBPF_SLAM_App, MapFromRawlog_Lidar2D_gridICP)
	TEST (RBPF_SLAM_App, MapFromRawlog_Lidar2D_pointsICP)
	TEST (RBPF_SLAM_App, MapFromRawlog_ROSLAM_MC)
	TEST (RBPF_SLAM_App, MapFromRawlog_ROSLAM_SOG)

Variables
static auto	tester_for_2006_01_21
static auto	tester_for_ROSLAM_demo

Typedef Documentation

config_changer_t

using config_changer_t = std::function<void(mrpt::config::CConfigFileBase&)>

Definition at line 17 of file RBPF_SLAM_App_unittest.cpp.

post_tester_t

using post_tester_t = std::function<void(mrpt::apps::RBPF_SLAM_App_Base&)>

Definition at line 18 of file RBPF_SLAM_App_unittest.cpp.

Function Documentation

generic_rbpf_slam_test()

void generic_rbpf_slam_test	(	const std::string &	ini_filename,
		const std::string &	rawlog_filename,
		config_changer_t	cfg_changer,
		post_tester_t	post_tester
	)

Definition at line 20 of file RBPF_SLAM_App_unittest.cpp.

References argc, argv, mrpt::exception_to_str(), EXPECT_TRUE(), mrpt::system::fileExists(), mrpt::system::getTempFileName(), ini_fil, mrpt::apps::RBPF_SLAM_App_Base::initialize(), mrpt::system::LVL_WARN, mrpt::apps::RBPF_SLAM_App_Base::params, mrpt::apps::RBPF_SLAM_App_Base::run(), mrpt::system::COutputLogger::setMinLoggingLevel(), and mrpt::config::CConfigFileBase::write().

Referenced by TEST().

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TEST() [1/5]

TEST	(	RBPF_SLAM_App	,
		MapFromRawlog_Lidar2D_optimal_sampling
	)

Definition at line 92 of file RBPF_SLAM_App_unittest.cpp.

References generic_rbpf_slam_test(), and tester_for_2006_01_21.

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TEST() [2/5]

TEST	(	RBPF_SLAM_App	,
		MapFromRawlog_Lidar2D_gridICP
	)

Definition at line 102 of file RBPF_SLAM_App_unittest.cpp.

References generic_rbpf_slam_test(), and tester_for_2006_01_21.

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TEST() [3/5]

TEST	(	RBPF_SLAM_App	,
		MapFromRawlog_Lidar2D_pointsICP
	)

Definition at line 112 of file RBPF_SLAM_App_unittest.cpp.

References generic_rbpf_slam_test(), and tester_for_2006_01_21.

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TEST() [4/5]

TEST	(	RBPF_SLAM_App	,
		MapFromRawlog_ROSLAM_MC
	)

Definition at line 122 of file RBPF_SLAM_App_unittest.cpp.

References generic_rbpf_slam_test(), and tester_for_ROSLAM_demo.

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TEST() [5/5]

TEST	(	RBPF_SLAM_App	,
		MapFromRawlog_ROSLAM_SOG
	)

Definition at line 131 of file RBPF_SLAM_App_unittest.cpp.

References generic_rbpf_slam_test(), and tester_for_ROSLAM_demo.

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Variable Documentation

tester_for_2006_01_21

auto tester_for_2006_01_21

static

Initial value:

= [](mrpt::apps::RBPF_SLAM_App_Base& o) {
    EXPECT_EQ(o.out_estimated_path.size(), 224U);
    const auto p = mrpt::poses::CPose3D(o.out_estimated_path.rbegin()->second);
    const auto p_gt = mrpt::poses::CPose3D::FromString(
        "[3.4548 -18.0399 0.000000 -86.48 0.000000 0.000000]");

    EXPECT_LT(mrpt::poses::Lie::SE<3>::log(p - p_gt).norm(), 1.0)
        << "actual pose  =" << p.asString()
        << "\nexpected pose=" << p_gt.asString();
}

Definition at line 68 of file RBPF_SLAM_App_unittest.cpp.

Referenced by TEST().

tester_for_ROSLAM_demo

auto tester_for_ROSLAM_demo

static

Initial value:

= [](mrpt::apps::RBPF_SLAM_App_Base& o) {
    EXPECT_EQ(o.out_estimated_path.size(), 99U);
    const auto p = mrpt::poses::CPose3D(o.out_estimated_path.rbegin()->second);
    const auto p_gt = mrpt::poses::CPose3D::FromString(
        "[1.938686 3.352273 0.000000 114.993417 0.000000 0.000000]");

    EXPECT_LT(mrpt::poses::Lie::SE<3>::log(p - p_gt).norm(), 1.0)
        << "actual pose  =" << p.asString()
        << "\nexpected pose=" << p_gt.asString();

    MRPT_TODO("Stricter unit tests: check for estimated landmark positions");
}

Definition at line 79 of file RBPF_SLAM_App_unittest.cpp.

Referenced by TEST().