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[RST-7809] Port fix for negative pi initial conditions from ROS1 to ROS2 #335

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[RST-7809] Port fix for negative pi initial conditions from ROS1 to ROS2 #335

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1cfe853
Add some unit tests for the 2D orientation constraints; Create getter…
svwilliams Aug 2, 2023
4e4651a
Force the 2D orientation value to be is minimum phase
svwilliams Aug 2, 2023
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1 change: 1 addition & 0 deletions fuse_constraints/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
# CORE GTESTS ======================================================================================
set(TEST_TARGETS
test_absolute_constraint
test_absolute_orientation_2d_stamped_constraint
test_absolute_orientation_3d_stamped_constraint
test_absolute_orientation_3d_stamped_euler_constraint
test_absolute_pose_2d_stamped_constraint
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4 changes: 2 additions & 2 deletions fuse_constraints/test/test_absolute_constraint.cpp
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Expand Up @@ -401,7 +401,7 @@ TEST(AbsoluteConstraint, AbsoluteOrientation2DOptimization)
auto variable = fuse_variables::Orientation2DStamped::make_shared(
rclcpp::Time(1234, 5678),
fuse_core::uuid::generate("tiktok"));
variable->yaw() = 0.7;
variable->setYaw(0.7);
// Create an absolute constraint
fuse_core::Vector1d mean;
mean << 7.0;
Expand All @@ -428,7 +428,7 @@ TEST(AbsoluteConstraint, AbsoluteOrientation2DOptimization)
ceres::Solver::Summary summary;
ceres::Solve(options, &problem, &summary);
// Check
EXPECT_NEAR(7.0 - 2 * M_PI, variable->yaw(), 1.0e-5);
EXPECT_NEAR(7.0 - 2 * M_PI, variable->getYaw(), 1.0e-5);
// Compute the covariance
std::vector<std::pair<const double *, const double *>> covariance_blocks;
covariance_blocks.emplace_back(variable->data(), variable->data());
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