CPose3DInterpolator_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DInterpolator.h>
#include <mrpt/system/datetime.h>
#include <CTraitsTest.h>
#include <gtest/gtest.h>

template class mrpt::CTraitsTest<mrpt::poses::CPose3DInterpolator>;

TEST(CPose3DInterpolator, interp)
{
    using namespace mrpt::poses;
    using mrpt::math::TPose3D;
    using mrpt::math::CMatrixDouble44;
    using mrpt::DEG2RAD;

    auto t0 = mrpt::Clock::now();
    mrpt::Clock::duration dt(std::chrono::milliseconds(100));

    CPose3DInterpolator pose_path;

    pose_path.insert(
        t0, TPose3D(1., 2., 3., DEG2RAD(30.0), DEG2RAD(.0), DEG2RAD(.0)));
    pose_path.insert(
        t0 + 2 * dt, TPose3D(1. + 3., 2. + 4., 3. + 5.,
            DEG2RAD(30.0 + 20.0), DEG2RAD(.0), DEG2RAD(.0)));

    TPose3D interp;
    bool valid;
    pose_path.interpolate(t0 + dt, interp, valid);

    EXPECT_TRUE(valid);
    const TPose3D interp_good(
        1. + 1.5, 2. + 2.0, 3. + 2.5, DEG2RAD(30.0 + 10.0), DEG2RAD(.0),
        DEG2RAD(.0));
    EXPECT_NEAR(
        .0, (CPose3D(interp_good).getHomogeneousMatrixVal<CMatrixDouble44>() -
             CPose3D(interp).getHomogeneousMatrixVal<CMatrixDouble44>())
                .array()
                .abs()
                .sum(),
        1e-4);
}