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10 #include <gtest/gtest.h>
12 #include <mrpt/config.h>
16 #include <test_mrpt_common.h>
25 mrpt::UNITTEST_BASEDIR +
27 "/share/mrpt/config_files/grid-matching/gridmatch_example.ini");
31 mrpt::UNITTEST_BASEDIR +
32 std::string(
"/share/mrpt/datasets/malaga-cs-fac-building.simplemap.gz");
38 for (
int tries = 0; tries < 3; tries++)
43 const char*
argv[] = {
44 "grid-matching",
"--config",
ini_fil.c_str(),
46 "--nologo",
"--nosave",
"--noicp"};
61 std::cout <<
"Attempt #" << tries
71 GTEST_FAIL() <<
"Ground truth not reached after several attempts.";
73 catch (
const std::exception& e)
EXPECT_TRUE(mrpt::system::fileExists(ini_fil))
double phi() const
Get the phi angle of the 2D pose (in radians)
TEST(ICP_SLAM_App, MapFromRawlog_PointMap)
double x() const
Common members of all points & poses classes.
T angDistance(T from, T to)
Computes the shortest angular increment (or distance) between two planar orientations,...
void initialize(int argc, const char **argv)
Initializes the application from CLI parameters.
const std::string ini_fil
bool fileExists(const std::string &fileName)
Test if a given file (or directory) exists.
grid-matching application wrapper class.
void asString(std::string &s) const
Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees)
void setMinLoggingLevel(const VerbosityLevel level)
Set the minimum logging level for which the incoming logs are going to be taken into account.
const std::string gridmap1_fil
A class for aligning two multi-metric maps (with an occupancy grid maps and a points map,...
void run()
Runs with the current parameter set.
void asString(std::string &s) const
Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees)
mrpt::poses::CPose2D estimateMean
std::string exception_to_str(const std::exception &e)
Builds a nice textual representation of a nested exception, which if generated using MRPT macros (THR...
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