| 34 | #include "gtest/gtest.h" |
| 35 | |
| 36 | TEST(Example, FG_Pseudorange) |
| 37 | { |
| 38 | double Time, TimeFirst = 0.0, TimeOld = 0.0; |
| 39 | |
| 40 | libRSF::Vector1 StdDev, StdDevCCE; |
| 41 | StdDev << STDDEV_RANGE; |
| 42 | StdDevCCE << STDDEV_CCE; |
| 43 | |
| 44 | ceres::Solver::Options SolverOptions; |
| 45 | SolverOptions.trust_region_strategy_type = ceres::TrustRegionStrategyType::DOGLEG; |
| 46 | SolverOptions.dogleg_type = ceres::DoglegType::SUBSPACE_DOGLEG; |
| 47 | SolverOptions.num_threads = std::thread::hardware_concurrency(); |
| 48 | SolverOptions.minimizer_progress_to_stdout = true; |
| 49 | |
| 50 | libRSF::FactorGraph SimpleGraph; |
| 51 | libRSF::SensorDataSet RangeMeasurements; |
| 52 | libRSF::StateList RangeList, ConstValList; |
| 53 | libRSF::GaussianDiagonal<1> NoiseModelRange, NoiseModelCCE; |
| 54 | NoiseModelRange.setStdDevDiagonal(StdDev); |
| 55 | NoiseModelCCE.setStdDevDiagonal(StdDevCCE); |
| 56 | |
| 57 | /** construct a set of range Measurements */ |
| 58 | CreateData(RangeMeasurements); |
| 59 | |
| 60 | /** loop over timestamps */ |
| 61 | RangeMeasurements.getTimeFirst(PSEUDORANGE_MEASUREMENT, TimeFirst); |
| 62 | Time = TimeFirst; |
| 63 | do |
| 64 | { |
| 65 | /** add position variables to graph */ |
| 66 | SimpleGraph.addState(POSITION_STATE, libRSF::DataType::Point2, Time); |
| 67 | |
| 68 | /** add offset variables to graph */ |
| 69 | SimpleGraph.addState(OFFSET_STATE, libRSF::DataType::ClockError, Time); |
| 70 | |
| 71 | RangeList.add(POSITION_STATE, Time); |
| 72 | RangeList.add(OFFSET_STATE, Time); |
| 73 | |
| 74 | /** add constant value model*/ |
| 75 | if (Time > TimeFirst) |
| 76 | { |
| 77 | ConstValList.add(OFFSET_STATE, TimeOld); |
| 78 | ConstValList.add(OFFSET_STATE, Time); |
| 79 | SimpleGraph.addFactor<libRSF::FactorType::ConstVal1>(ConstValList, NoiseModelCCE); |
| 80 | ConstValList.clear(); |
| 81 | } |
| 82 | |
| 83 | /** loop over measurements */ |
| 84 | for (int nMeasurement = RangeMeasurements.countElement(PSEUDORANGE_MEASUREMENT, Time); nMeasurement > 0; nMeasurement--) |
| 85 | { |
| 86 | SimpleGraph.addFactor<libRSF::FactorType::Pseudorange2>(RangeList, RangeMeasurements.getElement(PSEUDORANGE_MEASUREMENT, Time, nMeasurement-1), NoiseModelRange); |
| 87 | } |
| 88 | RangeList.clear(); |
| 89 | |
| 90 | TimeOld = Time; |
| 91 | } |
| 92 | while(RangeMeasurements.getTimeNext(PSEUDORANGE_MEASUREMENT, Time, Time)); |
| 93 |
nothing calls this directly
no test coverage detected