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DoglegOptimizer: Throw exception if infeasible test #33

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May 31, 2019
Merged

DoglegOptimizer: Throw exception if infeasible test #33

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0e309ba
Make test with hard constraints
dellaert May 28, 2019
184324a
Check exception type
varunagrawal May 30, 2019
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37 changes: 37 additions & 0 deletions tests/testDoglegOptimizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,11 @@
#include <CppUnitLite/TestHarness.h>

#include <tests/smallExample.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/DoglegOptimizer.h>
#include <gtsam/nonlinear/DoglegOptimizerImpl.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/JacobianFactor.h>
#include <gtsam/linear/GaussianBayesTree.h>
Expand Down Expand Up @@ -147,6 +151,39 @@ TEST(DoglegOptimizer, Iterate) {
}
}

/* ************************************************************************* */
TEST(DoglegOptimizer, Constraint) {
// Create a pose-graph graph with a constraint on the first pose
NonlinearFactorGraph graph;
const Pose2 origin(0, 0, 0), pose2(2, 0, 0);
graph.emplace_shared<NonlinearEquality<Pose2> >(1, origin);
auto model = noiseModel::Diagonal::Sigmas(Vector3(0.2, 0.2, 0.1));
graph.emplace_shared<BetweenFactor<Pose2> >(1, 2, pose2, model);

// Create feasible initial estimate
Values initial;
initial.insert(1, origin); // feasible !
initial.insert(2, Pose2(2.3, 0.1, -0.2));

// Optimize the initial values using DoglegOptimizer
DoglegParams params;
params.setVerbosityDL("VERBOSITY");
DoglegOptimizer optimizer(graph, initial, params);
Values result = optimizer.optimize();

// Check result
EXPECT(assert_equal(pose2, result.at<Pose2>(2)));

// Create infeasible initial estimate
Values infeasible;
infeasible.insert(1, Pose2(0.1, 0, 0)); // infeasible !
infeasible.insert(2, Pose2(2.3, 0.1, -0.2));

// Try optimizing with infeasible initial estimate
DoglegOptimizer optimizer2(graph, infeasible, params);
CHECK_EXCEPTION(optimizer2.optimize(), std::invalid_argument);
}

/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */