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26 using namespace gtsam;
38 *Hpose = Hvel__rot * Hrot__pose;
48 : measured_velocity_(measured_wheel_speed, 0, 0) {}
57 const Vector3 scaled_velocity = (vscale + 1.0) * measured_velocity_;
59 *
H = measured_velocity_;
61 return scaled_velocity;
69 TEST(ExpressionTesting, Issue16) {
70 const double tol = 1
e-4;
71 const double numerical_step = 1
e-3;
78 const auto pose_key =
Symbol(
'x', 1);
79 const auto vel_key =
Symbol(
'v', 1);
80 const auto scale_key =
Symbol(
's', 1);
92 const auto err_expr = body_vel - scaled_measured_vel;
98 "ScaleAndCompare", err_expr,
values, numerical_step,
tol));
static int runAllTests(TestResult &result)
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T value(const Values &values, std::vector< Matrix > *H=nullptr) const
Return value and optional derivatives, reverse AD version Notes: this is not terribly efficient,...
Expression< double > Double_
Array< double, 1, 3 > e(1./3., 0.5, 2.)
#define EXPECT_LONGS_EQUAL(expected, actual)
#define EXPECT(condition)
static const Eigen::MatrixBase< Vector3 >::ConstantReturnType Z_3x1
Vector3 operator()(double vscale, OptionalJacobian< 3, 1 > H={}) const
Point3 unrotate(const Point3 &p, OptionalJacobian< 3, 3 > H1={}, OptionalJacobian< 3, 3 > H2={}) const
rotate point from world to rotated frame
Vector3 measured_velocity_
bool testExpressionJacobians(const std::string &name_, const gtsam::Expression< T > &expression, const gtsam::Values &values, double nd_step, double tolerance)
Common expressions, both linear and non-linear.
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Vector3 bodyVelocity(const Pose3 &w_t_b, const Vector3 &vec_w, OptionalJacobian< 3, 6 > Hpose={}, OptionalJacobian< 3, 3 > Hvel={})
void insert(Key j, const Vector &value)
Test harness methods for expressions.
const Rot3 & rotation(OptionalJacobian< 3, 6 > Hself={}) const
get rotation
TEST(SmartFactorBase, Pinhole)
Common expressions for solving geometry/slam/sfm problems.
ScaledVelocityFunctor(double measured_wheel_speed)
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
Expression< Pose3 > Pose3_
Expression< Vector3 > Vector3_
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:07:26