Function MaxAbsError

test/TestUtils.cpp:87–136

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

   * \return maximum absolute error between GT and estimate
   */
  double MaxAbsError(const DataType TypeGT,
                     const SensorDataSet &GT,
                     const std::string &TypeEstimate,
                     const StateDataSet &Estimate,
                     const DataElement Element)
  {
    /** 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();
    }

    /** initialize maximum error */
    double maxAbsError = 0;

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

    /** calculate overall maximum */
    do
    {
      int NumberOfStates = GT.countElement(TypeGT,Time);
      for (int nState = 0; nState < NumberOfStates; ++nState)
      {
        /** get data at this timestamp */
        Data DataGT, DataEstimate;
        Estimate.getElement(TypeEstimate, Time, nState, DataEstimate);
        GT.getElement(TypeGT, Time, nState, DataGT);

        /** get maximum difference */
        const double maxAbsErrorTmp = (DataEstimate.getValue(Element) - DataGT.getValue(Element)).cwiseAbs().maxCoeff();

        /** store maximum of loop */
        if(maxAbsErrorTmp > maxAbsError)
        {
          maxAbsError = maxAbsErrorTmp;
        }
      }
    }
    while(GT.getTimeNext(TypeGT, Time, Time));

    /** return overall maximum */
    return maxAbsError;
  }
}