bool MultiDBoWMatcher::LandmarkVisitor::Visit(const SlamFramePtr& cur_node)
{
TransformMapVisitor::Visit(cur_node);
auto it = m_open.find(cur_node->id());
if(it != m_open.end())
{
Sophus::SE3t Tc = CurT();
const std::vector<size_t>& i_points = it->second;
for(size_t i : i_points) {
const Eigen::Vector4t& xrp4 = m_landmarks[i].xrp();
Eigen::Vector3t xrp(xrp4[0] / xrp4[3],
xrp4[1] / xrp4[3],
xrp4[2] / xrp4[3]);
Eigen::Vector3t x_robot_lm = m_T_wc.inverse() * Tc * xrp;
// Convert to cv axes
m_points[i] = cv::Point3f(x_robot_lm[0], x_robot_lm[1], x_robot_lm[2]);
}
m_open.erase(it);
}
return !m_open.empty();
}
/** Performs early sanity checks on the account and fee fields */
NotTEC
preflight1 (PreflightContext const& ctx)
{
auto const ret = preflight0(ctx);
if (!isTesSuccess(ret))
return ret;
auto const id = ctx.tx.getAccountID(sfAccount);
if (id == beast::zero)
{
JLOG(ctx.j.warn()) << "preflight1: bad account id";
return temBAD_SRC_ACCOUNT;
}
// No point in going any further if the transaction fee is malformed.
auto const fee = ctx.tx.getFieldAmount (sfFee);
if (!fee.native () || fee.negative () || !isLegalAmount (fee.xrp ()))
{
JLOG(ctx.j.debug()) << "preflight1: invalid fee";
return temBAD_FEE;
}
auto const spk = ctx.tx.getSigningPubKey();
if (!spk.empty () && !publicKeyType (makeSlice (spk)))
{
JLOG(ctx.j.debug()) << "preflight1: invalid signing key";
return temBAD_SIGNATURE;
}
return tesSUCCESS;
}
void
test_iou_to_xrp ()
{
testcase ("XRP Quantization: output");
Quality q1 = get_quality ("1", "1");
// TAKER OWNER
// QUAL OFFER FUNDS QUAL OFFER FUNDS EXPECTED
// USD XRP
attempt (Sell, "N:N", q1, { "3", "3" }, "3", q1, { "3", "3" }, "3", { "3", "3" }, usd(), xrp());
attempt (Sell, "N:B", q1, { "3", "3" }, "3", q1, { "3", "3" }, "2", { "2", "2" }, usd(), xrp());
attempt (Buy, "N:T", q1, { "3", "3" }, "2.5", q1, { "5", "5" }, "5", { "2.5", "2" }, usd(), xrp());
attempt (Buy, "N:BT", q1, { "3", "3" }, "1.5", q1, { "5", "5" }, "4", { "1.5", "1" }, usd(), xrp());
attempt (Buy, "N:TB", q1, { "3", "3" }, "2.2", q1, { "5", "5" }, "1", { "1", "1" }, usd(), xrp());
attempt (Sell, "T:N", q1, { "1", "1" }, "2", q1, { "2", "2" }, "2", { "1", "1" }, usd(), xrp());
attempt (Sell, "T:B", q1, { "2", "2" }, "2", q1, { "3", "3" }, "1", { "1", "1" }, usd(), xrp());
attempt (Buy, "T:T", q1, { "1", "1" }, "2", q1, { "2", "2" }, "2", { "1", "1" }, usd(), xrp());
attempt (Buy, "T:BT", q1, { "1", "1" }, "2", q1, { "3", "3" }, "2", { "1", "1" }, usd(), xrp());
attempt (Buy, "T:TB", q1, { "2", "2" }, "2", q1, { "3", "3" }, "1", { "1", "1" }, usd(), xrp());
attempt (Sell, "A:N", q1, { "2", "2" }, "1.5", q1, { "2", "2" }, "2", { "1.5", "1" }, usd(), xrp());
attempt (Sell, "A:B", q1, { "2", "2" }, "1.8", q1, { "3", "3" }, "2", { "1.8", "1" }, usd(), xrp());
attempt (Buy, "A:T", q1, { "2", "2" }, "1.2", q1, { "3", "3" }, "3", { "1.2", "1" }, usd(), xrp());
attempt (Buy, "A:BT", q1, { "2", "2" }, "1.5", q1, { "4", "4" }, "3", { "1.5", "1" }, usd(), xrp());
attempt (Buy, "A:TB", q1, { "2", "2" }, "1.5", q1, { "4", "4" }, "1", { "1", "1" }, usd(), xrp());
attempt (Sell, "TA:N", q1, { "2", "2" }, "1.5", q1, { "2", "2" }, "2", { "1.5", "1" }, usd(), xrp());
attempt (Sell, "TA:B", q1, { "2", "2" }, "1.5", q1, { "3", "3" }, "1", { "1", "1" }, usd(), xrp());
attempt (Buy, "TA:T", q1, { "2", "2" }, "1.5", q1, { "3", "3" }, "3", { "1.5", "1" }, usd(), xrp());
attempt (Buy, "TA:BT", q1, { "2", "2" }, "1.8", q1, { "4", "4" }, "3", { "1.8", "1" }, usd(), xrp());
attempt (Buy, "TA:TB", q1, { "2", "2" }, "1.2", q1, { "3", "3" }, "1", { "1", "1" }, usd(), xrp());
attempt (Sell, "AT:N", q1, { "2", "2" }, "2.5", q1, { "4", "4" }, "4", { "2", "2" }, usd(), xrp());
attempt (Sell, "AT:B", q1, { "2", "2" }, "2.5", q1, { "3", "3" }, "1", { "1", "1" }, usd(), xrp());
attempt (Buy, "AT:T", q1, { "2", "2" }, "2.5", q1, { "3", "3" }, "3", { "2", "2" }, usd(), xrp());
attempt (Buy, "AT:BT", q1, { "2", "2" }, "2.5", q1, { "4", "4" }, "3", { "2", "2" }, usd(), xrp());
attempt (Buy, "AT:TB", q1, { "2", "2" }, "2.5", q1, { "3", "3" }, "1", { "1", "1" }, usd(), xrp());
}
// NIKB TODO: Augment TestTaker so currencies and rates can be specified
// once without need for repetition.
void
test_xrp_to_iou ()
{
testcase ("XRP Quantization: input");
Quality q1 = get_quality ("1", "1");
// TAKER OWNER
// QUAL OFFER FUNDS QUAL OFFER FUNDS EXPECTED
// XRP USD
attempt (Sell, "N:N", q1, { "2", "2" }, "2", q1, { "2", "2" }, "2", { "2", "2" }, xrp(), usd());
attempt (Sell, "N:B", q1, { "2", "2" }, "2", q1, { "2", "2" }, "1.8", { "1", "1.8" }, xrp(), usd());
attempt (Buy, "N:T", q1, { "1", "1" }, "2", q1, { "2", "2" }, "2", { "1", "1" }, xrp(), usd());
attempt (Buy, "N:BT", q1, { "1", "1" }, "2", q1, { "2", "2" }, "1.8", { "1", "1" }, xrp(), usd());
attempt (Buy, "N:TB", q1, { "1", "1" }, "2", q1, { "2", "2" }, "0.8", { "0", "0.8" }, xrp(), usd());
attempt (Sell, "T:N", q1, { "1", "1" }, "2", q1, { "2", "2" }, "2", { "1", "1" }, xrp(), usd());
attempt (Sell, "T:B", q1, { "1", "1" }, "2", q1, { "2", "2" }, "1.8", { "1", "1.8" }, xrp(), usd());
attempt (Buy, "T:T", q1, { "1", "1" }, "2", q1, { "2", "2" }, "2", { "1", "1" }, xrp(), usd());
attempt (Buy, "T:BT", q1, { "1", "1" }, "2", q1, { "2", "2" }, "1.8", { "1", "1" }, xrp(), usd());
attempt (Buy, "T:TB", q1, { "1", "1" }, "2", q1, { "2", "2" }, "0.8", { "0", "0.8" }, xrp(), usd());
attempt (Sell, "A:N", q1, { "2", "2" }, "1", q1, { "2", "2" }, "2", { "1", "1" }, xrp(), usd());
attempt (Sell, "A:B", q1, { "2", "2" }, "1", q1, { "2", "2" }, "1.8", { "1", "1.8" }, xrp(), usd());
attempt (Buy, "A:T", q1, { "2", "2" }, "1", q1, { "3", "3" }, "3", { "1", "1" }, xrp(), usd());
attempt (Buy, "A:BT", q1, { "2", "2" }, "1", q1, { "3", "3" }, "2.4", { "1", "1" }, xrp(), usd());
attempt (Buy, "A:TB", q1, { "2", "2" }, "1", q1, { "3", "3" }, "0.8", { "0", "0.8" }, xrp(), usd());
attempt (Sell, "TA:N", q1, { "2", "2" }, "1", q1, { "2", "2" }, "2", { "1", "1" }, xrp(), usd());
attempt (Sell, "TA:B", q1, { "2", "2" }, "1", q1, { "3", "3" }, "1.8", { "1", "1.8" }, xrp(), usd());
attempt (Buy, "TA:T", q1, { "2", "2" }, "1", q1, { "3", "3" }, "3", { "1", "1" }, xrp(), usd());
attempt (Buy, "TA:BT", q1, { "2", "2" }, "1", q1, { "3", "3" }, "1.8", { "1", "1.8" }, xrp(), usd());
attempt (Buy, "TA:TB", q1, { "2", "2" }, "1", q1, { "3", "3" }, "1.8", { "1", "1.8" }, xrp(), usd());
attempt (Sell, "AT:N", q1, { "2", "2" }, "1", q1, { "3", "3" }, "3", { "1", "1" }, xrp(), usd());
attempt (Sell, "AT:B", q1, { "2", "2" }, "1", q1, { "3", "3" }, "1.8", { "1", "1.8" }, xrp(), usd());
attempt (Buy, "AT:T", q1, { "2", "2" }, "1", q1, { "3", "3" }, "3", { "1", "1" }, xrp(), usd());
attempt (Buy, "AT:BT", q1, { "2", "2" }, "1", q1, { "3", "3" }, "1.8", { "1", "1.8" }, xrp(), usd());
attempt (Buy, "AT:TB", q1, { "2", "2" }, "1", q1, { "3", "3" }, "0.8", { "0", "0.8" }, xrp(), usd());
}
Quality get_quality(std::string in, std::string out)
{
return Quality (parse_amounts (in, xrp(), out, xrp ()));
}
