Function ATE

test/TestUtils.cpp:36–76

\brief RMSE between two datasets (mean) * * \param TypeGT the type of the GT data * \param GT a data set that holds the GT * \param TypeEstimate type of the estimate * \param Estimate data set that holds the estimation * \return root mean square error between GT and estimate */

   * \return root mean square error between GT and estimate
   */
  double ATE(const DataType TypeGT,
             const SensorDataSet &GT,
             const std::string &TypeEstimate,
             const StateDataSet &Estimate)
  {
    /** check length */
    const int LengthGT = GT.countElements(TypeGT);
    const int LengthEstimate = Estimate.countElements(TypeEstimate);

    /** return error if not equal */
    if (LengthGT != LengthEstimate)
    {
      PRINT_ERROR("Length of GT and estimate is not identical!");
      return std::numeric_limits<double>::quiet_NaN();
    }

    /** vector to store errors */
    Vector Error(LengthEstimate);

    /** get first timestamp */
    double Time = 0.0;
    GT.getTimeFirst(TypeGT, Time);

    /** fill error vector */
    int n = 0;
    do
    {
      /** get data at this timestamp */
      Data DataGT, DataEstimate;
      Estimate.getElement(TypeEstimate, Time, 0, DataEstimate);
      GT.getElement(TypeGT, Time, 0, DataGT);

      /** euclidean distance*/
      Error(n) = (DataEstimate.getMean() - DataGT.getMean()).norm();
      n++;
    }
    while(GT.getTimeNext(TypeGT, Time, Time));

    /** apply RMSE */
    return RMSE(Error);
  }


  /** \brief maximum componentwise absolute difference between two datasets (mean and covariance)