ICP_SLAM_App_unittest.cpp File Reference

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

Include dependency graph for ICP_SLAM_App_unittest.cpp:

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

Functions
template<class SLAM_CLASS >
void	generic_icp_slam_test (const std::string &ini_filename, const std::string &rawlog_filename, config_changer_t cfg_changer, post_tester_t post_tester)
	TEST (ICP_SLAM_App, MapFromRawlog_PointMap)
	TEST (ICP_SLAM_App, MapFromRawlog_Grid)
	TEST (ICP_SLAM_App, MapFromRawlog_LM)

Variables
static auto	tester_for_2006_01_21

Typedef Documentation

config_changer_t

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

Definition at line 17 of file ICP_SLAM_App_unittest.cpp.

post_tester_t

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

Definition at line 18 of file ICP_SLAM_App_unittest.cpp.

Function Documentation

generic_icp_slam_test()

template<class SLAM_CLASS >

void generic_icp_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 21 of file ICP_SLAM_App_unittest.cpp.

References argc, argv, mrpt::exception_to_str(), EXPECT_TRUE(), mrpt::system::fileExists(), mrpt::system::getTempFileName(), ini_fil, and mrpt::system::LVL_WARN.

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TEST() [1/3]

TEST	(	ICP_SLAM_App	,
		MapFromRawlog_PointMap
	)

Definition at line 80 of file ICP_SLAM_App_unittest.cpp.

References tester_for_2006_01_21.

TEST() [2/3]

TEST	(	ICP_SLAM_App	,
		MapFromRawlog_Grid
	)

Definition at line 90 of file ICP_SLAM_App_unittest.cpp.

References tester_for_2006_01_21.

TEST() [3/3]

TEST	(	ICP_SLAM_App	,
		MapFromRawlog_LM
	)

Definition at line 100 of file ICP_SLAM_App_unittest.cpp.

References tester_for_2006_01_21.

Variable Documentation

tester_for_2006_01_21

auto tester_for_2006_01_21

static

Initial value:

= [](mrpt::apps::ICP_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 69 of file ICP_SLAM_App_unittest.cpp.

Referenced by TEST().