extract ComputeResidual2D/ComputeJacobians2D, add unit test#77
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woosik2510 wants to merge 2 commits into
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extract ComputeResidual2D/ComputeJacobians2D, add unit test#77woosik2510 wants to merge 2 commits into
woosik2510 wants to merge 2 commits into
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PR 1/4 of wheel Jacobian unit test campaign. Extracts 2D residual and pose+extrinsic Jacobians into public static functions, refactors compute_linear_system_2D to call them, and adds test_UpdaterWheel2D.cpp with central finite-difference and sign checks.
Unit Test Results
2/2 passed |
Simulation regression report - master vs PR8 seeds/config, sim full
stereo_gps
stereo_lidar
stereo_wheel
vicon
vio_stereo
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Full unit test coverage for wheel updater Jacobians
ComputeResidual2D+ComputeJacobians2D(pose + extrinsic), unit testComputeResidual3D+ComputeJacobians3D(pose + extrinsic), unit testSummary
compute_linear_system_2Dinto two public static functions:ComputeResidual2DandComputeJacobians2D.ComputeJacobians2Dreturnsstd::pair<MatrixXd, MatrixXd>-{H_poses (3x12), H_ext (3x6)}- avoiding output parameters.compute_linear_system_2Dis refactored to call these; FEJ values are passed for Jacobians, current values for residuals. The time-offset column is reconstructed fromH_posessub-blocks, removing the need for local intermediate variables.mins/tests/test_UpdaterWheel2D.cppverifies both Jacobians with central finite differences (eps=1e-6) plus a sign check for entries where the numerical magnitude exceeds the tolerance.Verification
Build in WSL2 Noetic environment and run:
Chain
Next in chain: PR 2/4 - 3D pose + extrinsic Jacobians.