data_association_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/slam/data_association.h>
#include <gtest/gtest.h>

using namespace mrpt;
using namespace mrpt::slam;
using namespace mrpt::math;
using namespace std;

TEST(DataAssociation, TestNoICs)
{
    // Try to do DA when no individual compatible pairings exist.
    // Based on test proposed by Mauricio Soto Alvarez:
    // See:
    // https://sourceforge.net/tracker/?func=detail&aid=3562885&group_id=205280&atid=993006

    CMatrixDouble y, y_cov, z;
    y.setSize(1, 1);
    y_cov.setSize(1, 1);
    z.setSize(1, 1);

    y(0, 0) = 0.0;
    y_cov(0, 0) = 1.0;
    z(0, 0) = 10.0;

    const TDataAssociationMethod dams[2] = {assocNN, assocJCBB};
    const TDataAssociationMetric damets[2] = {metricMaha, metricML};

    for (unsigned int da_metric = 0;
         da_metric < sizeof(damets) / sizeof(damets[0]); ++da_metric)
    {
        const TDataAssociationMetric damet = damets[da_metric];

        for (unsigned int da_method = 0;
             da_method < sizeof(dams) / sizeof(dams[0]); ++da_method)
        {
            const TDataAssociationMethod dam = dams[da_method];

            TDataAssociationResults DAresults;
            data_association_independent_predictions(
                z, y, y_cov, DAresults, dam, damet, 0.99, true,
                std::vector<prediction_index_t>(), metricMaha, 0.0);

            EXPECT_EQ(0u, DAresults.associations.size())
                << "For da_method=" << da_method
                << " and da_metric=" << da_metric << endl;
        }
    }
}