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Fix missing namespace qualification and docs for Manifold gtest macro

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Change-Id: Iae9a0d13191a777921208cb58d919f0e85b1bf92
This commit is contained in:
Alex Stewart
2022-10-30 17:49:11 +00:00
parent 6685e629f9
commit 6b296f27ff
1 changed files with 38 additions and 24 deletions
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include/ceres/manifold_test_utils.h
+38 -24
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@@ -42,24 +42,51 @@
namespace ceres {
// Matchers and macros for help with testing Manifold objects.
// Matchers and macros to simplify testing of custom Manifold objects using the
// gtest testing framework.
//
// Testing a Manifold has two parts.
//
// 1. Checking that Manifold::Plus is correctly defined. This requires per
// manifold tests.
// 1. Checking that Manifold::Plus() and Manifold::Minus() are correctly
// defined. This requires per manifold tests.
//
// 2. The other methods of the manifold have mathematical properties that make
// it compatible with Plus, as described in:
// them compatible with Plus() and Minus(), as described in [1].
//
// "Integrating Generic Sensor Fusion Algorithms with Sound State
// Representations through Encapsulation of Manifolds"
// By C. Hertzberg, R. Wagner, U. Frese and L. Schroder
// https://arxiv.org/pdf/1107.1119.pdf
// To verify these general requirements for a custom Manifold, use the
// EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD() macro from within a gtest test. Note
// that additional domain-specific tests may also be prudent, e.g to verify the
// behaviour of a Quaternion Manifold about pi.
//
// These tests are implemented using generic matchers defined below which can
// all be called by the macro EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x,
// delta, y, tolerance). See manifold_test.cc for example usage.
// [1] "Integrating Generic Sensor Fusion Algorithms with Sound State
// Representations through Encapsulation of Manifolds", C. Hertzberg,
// R. Wagner, U. Frese and L. Schroder, https://arxiv.org/pdf/1107.1119.pdf
// Verifies the general requirements for a custom Manifold are satisfied to
// within the specified (numerical) tolerance.
//
// Example usage for a custom Manifold: ExampleManifold:
//
// TEST(ExampleManifold, ManifoldInvariantsHold) {
// constexpr double kTolerance = 1.0e-9;
// ExampleManifold manifold;
// ceres::Vector x = ceres::Vector::Zero(manifold.AmbientSize());
// ceres::Vector y = ceres::Vector::Zero(manifold.AmbientSize());
// ceres::Vector delta = ceres::Vector::Zero(manifold.TangentSize());
// EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, kTolerance);
// }
#define EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, tolerance) \
::ceres::Vector zero_tangent = ::ceres::Vector::Zero(manifold.TangentSize()); \
EXPECT_THAT(manifold, ::ceres::XPlusZeroIsXAt(x, tolerance)); \
EXPECT_THAT(manifold, ::ceres::XMinusXIsZeroAt(x, tolerance)); \
EXPECT_THAT(manifold, ::ceres::MinusPlusIsIdentityAt(x, delta, tolerance)); \
EXPECT_THAT(manifold, ::ceres::MinusPlusIsIdentityAt(x, zero_tangent, tolerance)); \
EXPECT_THAT(manifold, ::ceres::PlusMinusIsIdentityAt(x, x, tolerance)); \
EXPECT_THAT(manifold, ::ceres::PlusMinusIsIdentityAt(x, y, tolerance)); \
EXPECT_THAT(manifold, ::ceres::HasCorrectPlusJacobianAt(x, tolerance)); \
EXPECT_THAT(manifold, ::ceres::HasCorrectMinusJacobianAt(x, tolerance)); \
EXPECT_THAT(manifold, ::ceres::MinusPlusJacobianIsIdentityAt(x, tolerance)); \
EXPECT_THAT(manifold, ::ceres::HasCorrectRightMultiplyByPlusJacobianAt(x, tolerance));
// Checks that the invariant Plus(x, 0) == x holds.
MATCHER_P2(XPlusZeroIsXAt, x, tolerance, "") {
@@ -312,17 +339,4 @@ MATCHER_P2(HasCorrectRightMultiplyByPlusJacobianAt, x, tolerance, "") {
return true;
}
#define EXPECT_THAT_MANIFOLD_INVARIANTS_HOLD(manifold, x, delta, y, tolerance) \
Vector zero_tangent = Vector::Zero(manifold.TangentSize()); \
EXPECT_THAT(manifold, XPlusZeroIsXAt(x, tolerance)); \
EXPECT_THAT(manifold, XMinusXIsZeroAt(x, tolerance)); \
EXPECT_THAT(manifold, MinusPlusIsIdentityAt(x, delta, tolerance)); \
EXPECT_THAT(manifold, MinusPlusIsIdentityAt(x, zero_tangent, tolerance)); \
EXPECT_THAT(manifold, PlusMinusIsIdentityAt(x, x, tolerance)); \
EXPECT_THAT(manifold, PlusMinusIsIdentityAt(x, y, tolerance)); \
EXPECT_THAT(manifold, HasCorrectPlusJacobianAt(x, tolerance)); \
EXPECT_THAT(manifold, HasCorrectMinusJacobianAt(x, tolerance)); \
EXPECT_THAT(manifold, MinusPlusJacobianIsIdentityAt(x, tolerance)); \
EXPECT_THAT(manifold, HasCorrectRightMultiplyByPlusJacobianAt(x, tolerance));
} // namespace ceres