From 23e4942a59753a4b64571f9ee63459987bfa00b7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Timo=20Weberru=C3=9F?= <timo.weberruss@student.kit.edu>
Date: Fri, 4 Nov 2022 12:39:57 +0100
Subject: [PATCH] Make everything const that isn't at 3 on the tree
---
.../human/test/human_tracker_test.cpp | 77 ++++++++++---------
1 file changed, 39 insertions(+), 38 deletions(-)
diff --git a/source/armarx/navigation/human/test/human_tracker_test.cpp b/source/armarx/navigation/human/test/human_tracker_test.cpp
index 734243ac..25e24fa3 100644
--- a/source/armarx/navigation/human/test/human_tracker_test.cpp
+++ b/source/armarx/navigation/human/test/human_tracker_test.cpp
@@ -60,58 +60,58 @@ namespace armarx::navigation::human
// PARAMETERS
- Eigen::Vector3f initialPosition(0, 0, 2);
- float orientation = M_PI_2;
- Eigen::Quaternionf orientationQuat = quatFromEuler(0, 0, orientation);
+ const Eigen::Vector3f initialPosition(0, 0, 2);
+ const float orientation = M_PI_2;
+ const Eigen::Quaternionf orientationQuat = quatFromEuler(0, 0, orientation);
- std::int64_t timestepMs = 100;
- Eigen::Vector3f movementSpeedMetPerSec(1, 0, 0);
- int cameraSteps = 10;
+ const std::int64_t timestepMs = 100;
+ const Eigen::Vector3f movementSpeedMetPerSec(1, 0, 0);
+ const int cameraSteps = 10;
// CAMERA MEASUREMENTS
- Eigen::Vector3f posDelta =
+ const Eigen::Vector3f posDelta =
movementSpeedMetPerSec * (static_cast<float>(timestepMs) / 1000.0);
- std::vector<CamMm> camMeasurements = std::vector<CamMm>();
+ const std::vector<CamMm> camMeasurements = std::vector<CamMm>();
for (int i = 0; i < cameraSteps; i++)
{
- DateTime t = DateTime(Duration::MilliSeconds(i * timestepMs));
-
- Eigen::Vector3f newPos = initialPosition + i * posDelta;
- FramedPosition headPosition = FramedPosition(newPos, "", "");
- FramedOrientation headOrientation = FramedOrientation(orientationQuat, "", "");
- PoseKeypoint head = {.label = "HEAD",
- .confidence = 0.95,
- .positionGlobal = headPosition,
- .orientationGlobal = headOrientation};
- HumanPose pose = {"posemodelid", {{"HEAD", head}}};
- std::vector<armem::human::HumanPose> humanPoses = {pose};
- CamMm camMm = {t, humanPoses};
+ const DateTime t = DateTime(Duration::MilliSeconds(i * timestepMs));
+
+ const Eigen::Vector3f newPos = initialPosition + i * posDelta;
+ const FramedPosition headPosition = FramedPosition(newPos, "", "");
+ const FramedOrientation headOrientation = FramedOrientation(orientationQuat, "", "");
+ const PoseKeypoint head = {.label = "HEAD",
+ .confidence = 0.95,
+ .positionGlobal = headPosition,
+ .orientationGlobal = headOrientation};
+ const HumanPose pose = {"posemodelid", {{"HEAD", head}}};
+ const std::vector<armem::human::HumanPose> humanPoses = {pose};
+ const CamMm camMm = {t, humanPoses};
tracker.update(camMm);
}
// LASER MEASUREMENT
- DateTime tLaser = DateTime(Duration::MilliSeconds(cameraSteps * timestepMs));
+ const DateTime tLaser = DateTime(Duration::MilliSeconds(cameraSteps * timestepMs));
using Point = Eigen::Vector2f;
- std::vector<Point> relOffsets = {Point(0.01, 0.003),
- Point(-0.02, 0.007),
- Point(-0.01, -0.01),
- Point(0.015, 0.009),
- Point(0.002, 0.001)};
+ const std::vector<Point> relOffsets = {Point(0.01, 0.003),
+ Point(-0.02, 0.007),
+ Point(-0.01, -0.01),
+ Point(0.015, 0.009),
+ Point(0.002, 0.001)};
- Eigen::Vector3f laserPos = initialPosition + cameraSteps * posDelta;
- Eigen::Vector3f leftFootPos = laserPos + Point(0, 0.1);
- Eigen::Vector3f rightFootPos = laserPos + Point(0, -0.1);
+ const Eigen::Vector3f laserPos = initialPosition + cameraSteps * posDelta;
+ const Eigen::Vector3f leftFootPos = laserPos + Point(0, 0.1);
+ const Eigen::Vector3f rightFootPos = laserPos + Point(0, -0.1);
std::vector<Point> leftFootPoints = std::vector<Point>();
std::vector<Point> rightFootPoints = std::vector<Point>();
- for (Point& offset : relOffsets)
+ for (const Point& offset : relOffsets)
{
leftFootPoints.emplace_back(leftFootPos + offset);
rightFootPoints.emplace_back(rightFootPos + offset);
@@ -126,20 +126,21 @@ namespace armarx::navigation::human
rightFootPose.translation() = rightFootPos;
rightFootPose.linear() = Eigen::Rotation2Df(orientation).toRotationMatrix();
- Ellipsoid leftFootEllipse = {.pose = leftFootPose, .radii = Point(0.05, 0.04)};
- Ellipsoid rightFootEllipse = {.pose = rightFootPose, .radii = Point(0.05, 0.04)};
+ const Ellipsoid leftFootEllipse = {.pose = leftFootPose, .radii = Point(0.05, 0.04)};
+ const Ellipsoid rightFootEllipse = {.pose = rightFootPose, .radii = Point(0.05, 0.04)};
- Cluster leftFootCluster = {.ellipsoid = leftFootEllipse, .points = leftFootPoints};
- Cluster rightFootCluster = {.ellipsoid = rightFootEllipse, .points = rightFootPoints};
+ const Cluster leftFootCluster = {.ellipsoid = leftFootEllipse, .points = leftFootPoints};
+ const Cluster rightFootCluster = {.ellipsoid = rightFootEllipse, .points = rightFootPoints};
- std::vector<Cluster> clusters = std::vector<Cluster>{leftFootCluster, rightFootCluster};
+ const std::vector<Cluster> clusters =
+ std::vector<Cluster>{leftFootCluster, rightFootCluster};
- LaserMm laserMm = {.detectionTime = tLaser, .clusters = clusters};
+ const LaserMm laserMm = {.detectionTime = tLaser, .clusters = clusters};
tracker.update(laserMm);
- std::vector<Human> humans = tracker.getTrackedHumans();
+ const std::vector<Human> humans = tracker.getTrackedHumans();
BOOST_CHECK_EQUAL(humans.size(), 1); // should have detected the one human through laser
- Human h = humans.at(0);
+ const Human h = humans.at(0);
BOOST_CHECK_CLOSE(h.pose.translation().x(), 1.0, 0.05);
BOOST_CHECK(h.pose.translation().y() < 0.05);
BOOST_CHECK_CLOSE(h.linearVelocity.x(), 1.0, 0.2);
--
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