MonteCarloLocalization_App_unittest.cpp File Reference

#include <gtest/gtest.h>
#include <mrpt/apps/MonteCarloLocalization_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::MonteCarloLocalization_Base &)>
using	MCL = mrpt::apps::MonteCarloLocalization_Rawlog

Functions
void	generic_pf_test (const std::string &ini_filename, const std::string &rawlog_filename, const std::string &map_filename, config_changer_t cfg_changer, post_tester_t post_tester)
	TEST (MonteCarloLocalization_Rawlog, RunForSampleDataset_2D)
	TEST (MonteCarloLocalization_Rawlog, RunForSampleDataset_3D)

Variables
static bool	tester_result_ok = true
static auto	tester_for_localization_demo

Typedef Documentation

config_changer_t

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

Definition at line 17 of file MonteCarloLocalization_App_unittest.cpp.

MCL

using MCL = mrpt::apps::MonteCarloLocalization_Rawlog

Definition at line 21 of file MonteCarloLocalization_App_unittest.cpp.

post_tester_t

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

Definition at line 19 of file MonteCarloLocalization_App_unittest.cpp.

Function Documentation

generic_pf_test()

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

Definition at line 23 of file MonteCarloLocalization_App_unittest.cpp.

References mrpt::apps::MonteCarloLocalization_Base::allow_quit_on_esc_key, argc, argv, ASSERT_FILE_EXISTS_, mrpt::exception_to_str(), mrpt::apps::MonteCarloLocalization_Base::fill_out_estimated_path, mrpt::system::getTempFileName(), ini_fil, mrpt::apps::MonteCarloLocalization_Base::initialize(), mrpt::system::LVL_ERROR, mrpt::apps::MonteCarloLocalization_Base::params, mrpt::apps::MonteCarloLocalization_Base::run(), mrpt::apps::MonteCarloLocalization_Base::sect, mrpt::system::COutputLogger::setMinLoggingLevel(), and mrpt::config::CConfigFileBase::write().

Referenced by TEST().

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TEST() [1/2]

TEST	(	MonteCarloLocalization_Rawlog	,
		RunForSampleDataset_2D
	)

Definition at line 112 of file MonteCarloLocalization_App_unittest.cpp.

References generic_pf_test(), mrpt::apps::MonteCarloLocalization_Base::sect, tester_for_localization_demo, tester_result_ok, and mrpt::config::CConfigFileBase::write().

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TEST() [2/2]

TEST	(	MonteCarloLocalization_Rawlog	,
		RunForSampleDataset_3D
	)

Definition at line 130 of file MonteCarloLocalization_App_unittest.cpp.

References generic_pf_test(), mrpt::apps::MonteCarloLocalization_Base::sect, tester_for_localization_demo, tester_result_ok, and mrpt::config::CConfigFileBase::write().

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Variable Documentation

tester_for_localization_demo

auto tester_for_localization_demo

static

Initial value:

=
    [](mrpt::apps::MonteCarloLocalization_Base& o) {
        EXPECT_EQ(o.out_estimated_path.size(), 37U);
        if (o.out_estimated_path.empty()) return;

        const mrpt::math::TPose3D p = o.out_estimated_path.rbegin()->second;
        const auto p_gt = mrpt::math::TPose3D::FromString(
            "[15.89 -10.0 0.000000 4.8 0.000000 0.000000]");

        const auto p_err = mrpt::poses::CPose3D(p_gt - p);
        const double err = mrpt::poses::Lie::SE<3>::log(p_err).norm();

        if (err < 0.5)
        {
            tester_result_ok = true;
        }
        else
        {
            tester_result_ok = false;
            std::cerr << "Final pose mismatch (will retry N times):\n"
                         "Expected: "
                      << p_gt.asString()
                      << "\n"
                         "Actual  : "
                      << p.asString() << "\n";
        }
    }

Definition at line 84 of file MonteCarloLocalization_App_unittest.cpp.

Referenced by TEST().

tester_result_ok

bool tester_result_ok = true

static

Definition at line 82 of file MonteCarloLocalization_App_unittest.cpp.

Referenced by TEST().