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Backport: Fix and test Pose2Point2 #390

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Jan 29, 2021
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Backport: Fix and test Pose2Point2 #390

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35feb8d
Fix and test Pose2Point2
Affie Jan 29, 2021
bbb0411
Update Project.toml
Affie Jan 29, 2021
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2 changes: 1 addition & 1 deletion Project.toml
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Expand Up @@ -2,7 +2,7 @@ name = "RoME"
uuid = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
keywords = ["SLAM", "state-estimation", "MM-iSAM", "MM-iSAMv2", "inference", "robotics"]
desc = "Non-Gaussian simultaneous localization and mapping"
version = "0.12.0"
version = "0.12.1"

[deps]
ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
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2 changes: 1 addition & 1 deletion src/factors/Pose2Point2.jl
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Expand Up @@ -33,7 +33,7 @@ function (cfo::CalcFactor{<:Pose2Point2})(res::AbstractVector{<:Real},
wLj )
#

wLj_pred = SE2(wXi)*SE2([meas[1];0.0])
wLj_pred = SE2(wXi)*SE2([meas;0.0])
res[1:2] .= wLj .- se2vee(wLj_pred)[1:2]

res .^= 2
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3 changes: 2 additions & 1 deletion test/runtests.jl
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Expand Up @@ -31,7 +31,8 @@ testfiles = [
"testpackingconverters.jl";
"TestDefaultFGInitialization.jl";
"testAccumulateFactors.jl";
"testDeadReckoningTether.jl"; ]
"testDeadReckoningTether.jl";
"testPoint2Point2.jl"]

## Tests not ready yet
# "HexagonalLightGraphs.jl"
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25 changes: 25 additions & 0 deletions test/testPose2Point2.jl
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@@ -0,0 +1,25 @@
using RoME
using Test
using Statistics

## MWE Pose2Point2 from #388
@testset "basic Pose2Point2 test" begin

fg = initfg()

addVariable!(fg, :x1, Pose2)
addVariable!(fg, :l1, Point2)

addFactor!(fg, [:x1], PriorPose2(MvNormal([0.,0, 0], [0.01, 0.01, 0.01])))

addFactor!(fg, [:x1; :l1], Pose2Point2(MvNormal([0.0,-1], [0.1,0.1])))

ensureAllInitialized!(fg)

tree, smt, hist = solveTree!(fg)

@test isapprox(mean(getVal(fg, :x1),dims=2), [0,0,0], atol = 0.05)
@test isapprox(mean(getVal(fg, :l1),dims=2), [0,-1], atol = 0.05)
end