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fix duplicate odometry edge test #6

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fix duplicate odometry edge test #6

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8 changes: 4 additions & 4 deletions seminar02-graph-slam/code/unit/test_edges.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,15 +42,15 @@ def test_odometry_forward_left(self):
FINAL_ANGLE_SHIFT = -0.112
from_pose = (T * ts.Transform2D.from_pose([0.0, 0.0, 0.0])).to_pose()
from_vertex = ge.SE2Vertex(from_pose)
to_pose = (T * ts.Transform2D.from_pose([R * np.sin(THETA), R * np.cos(THETA) - R, -THETA + FINAL_ANGLE_SHIFT])).to_pose()
to_pose = (T * ts.Transform2D.from_pose([R * np.sin(THETA), R - R * np.cos(THETA), THETA + FINAL_ANGLE_SHIFT])).to_pose()
to_vertex = ge.SE2Vertex(to_pose)
event = {'command': [10.0, 0.0], 'alpha': [0.001] * 6, 'type': 'control'}
edge = ge.OdometryEdge(from_vertex=from_vertex, to_vertex=to_vertex, event=event)
edge.compute_error()

# Prediction should be [2.61799, -0.261799, -0.112]
# Error should be [7.38201, 0.261799, -0.112]
assert np.linalg.norm(edge.error - np.array([7.38201, 0.261799, -0.112]), ord=np.inf) < 1E-5
# Prediction should be [2.61799, 0.261799, -0.112]
# Error should be [7.38201, -0.261799, -0.112]
assert np.linalg.norm(edge.error - np.array([7.38201, -0.261799, -0.112]), ord=np.inf) < 1E-5
assert np.linalg.norm(edge.inf.flatten() - np.diag([10.0] * 3).flatten(), ord=np.inf) < 1E-5


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