MRPT  1.9.9
CPose2DInterpolator_unittest.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
11 #include <mrpt/system/datetime.h>
12 #include <CTraitsTest.h>
13 #include <gtest/gtest.h>
14 
15 template class mrpt::CTraitsTest<mrpt::poses::CPose2DInterpolator>;
16 
17 TEST(CPose2DInterpolator, interp)
18 {
19  using namespace mrpt::poses;
20  using mrpt::DEG2RAD;
21  using mrpt::math::TPose2D;
22 
23  auto t0 = mrpt::Clock::now();
24  using namespace std::chrono_literals;
25  auto dt = 100ms;
26 
27  CPose2DInterpolator pose_path;
28 
29  pose_path.insert(t0, TPose2D(1., 2., DEG2RAD(30.0)));
30  pose_path.insert(
31  t0 + 2 * dt, TPose2D(1. + 3., 2. + 4., DEG2RAD(30.0 + 20.0)));
32 
33  TPose2D interp;
34  bool valid;
35  pose_path.interpolate(t0 + dt, interp, valid);
36 
37  EXPECT_TRUE(valid);
38 
39  const TPose2D interp_good(1. + 1.5, 2. + 2.0, DEG2RAD(30.0 + 10.0));
40  for (unsigned int i = 0; i < interp_good.size(); i++)
41  {
42  EXPECT_NEAR(interp_good[i], interp[i], 1e-4);
43  }
44 }
This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses). ...
double DEG2RAD(const double x)
Degrees to radians.
static time_point now() noexcept
Returns the current time, with the highest resolution available.
Definition: Clock.cpp:46
TEST(CPose2DInterpolator, interp)
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
pose_t & interpolate(const mrpt::Clock::time_point &t, pose_t &out_interp, bool &out_valid_interp) const
Returns the pose at a given time, or interpolates using splines if there is not an exact match...
Lightweight 2D pose.
void insert(const mrpt::Clock::time_point &t, const pose_t &p)
Inserts a new pose in the sequence.
GLuint interp
Definition: glext.h:7133



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