Classes | Functions | Variables
testGaussianISAM2.cpp File Reference

Unit tests for GaussianISAM2. More...

#include <gtsam/nonlinear/ISAM2.h>
#include <tests/smallExample.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianBayesTree.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/inference/Ordering.h>
#include <gtsam/base/debug.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/treeTraversal-inst.h>
#include <CppUnitLite/TestHarness.h>
Include dependency graph for testGaussianISAM2.cpp:

Go to the source code of this file.

Classes

struct  ConsistencyVisitor
 
class  FixActiveFactor
 

Functions

ISAM2 createSlamlikeISAM2 (Values *init_values=nullptr, NonlinearFactorGraph *full_graph=nullptr, const ISAM2Params &params=ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, true, ISAM2Params::CHOLESKY, true, DefaultKeyFormatter, true), size_t maxPoses=10)
 
bool isam_check (const NonlinearFactorGraph &fullgraph, const Values &fullinit, const ISAM2 &isam, Test &test, TestResult &result)
 
int main ()
 
 TEST (ActiveFactorTesting, Issue1596)
 
 TEST (ISAM2, calculate_nnz)
 
 TEST (ISAM2, clone)
 
 TEST (ISAM2, constrained_ordering)
 
 TEST (ISAM2, marginalCovariance)
 
 TEST (ISAM2, marginalizationSize)
 
 TEST (ISAM2, marginalizeLeaves1)
 
 TEST (ISAM2, marginalizeLeaves2)
 
 TEST (ISAM2, marginalizeLeaves3)
 
 TEST (ISAM2, marginalizeLeaves4)
 
 TEST (ISAM2, marginalizeLeaves5)
 
 TEST (ISAM2, marginalizeLeaves6)
 
 TEST (ISAM2, MarginalizeRoot)
 
 TEST (ISAM2, removeFactors)
 
 TEST (ISAM2, removeVariables)
 
 TEST (ISAM2, simple)
 
 TEST (ISAM2, slamlike_solution_dogleg)
 
 TEST (ISAM2, slamlike_solution_dogleg_qr)
 
 TEST (ISAM2, slamlike_solution_gaussnewton)
 
 TEST (ISAM2, slamlike_solution_gaussnewton_qr)
 
 TEST (ISAM2, slamlike_solution_partial_relinearization_check)
 
 TEST (ISAM2, swapFactors)
 

Variables

SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0, 0.1).finished())
 
static const SharedNoiseModel model
 
SharedDiagonal odoNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.1, 0.1, M_PI/100.0).finished())
 

Detailed Description

Unit tests for GaussianISAM2.

Author
Michael Kaess

Definition in file testGaussianISAM2.cpp.

Function Documentation

◆ createSlamlikeISAM2()

ISAM2 createSlamlikeISAM2 ( Values init_values = nullptr,
NonlinearFactorGraph full_graph = nullptr,
const ISAM2Params params = ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0,                                            0, false, true,                                            ISAM2Params::CHOLESKY, true,                                            DefaultKeyFormatter, true),
size_t  maxPoses = 10 
)

Definition at line 43 of file testGaussianISAM2.cpp.

◆ isam_check()

bool isam_check ( const NonlinearFactorGraph fullgraph,
const Values fullinit,
const ISAM2 isam,
Test test,
TestResult result 
)

Definition at line 222 of file testGaussianISAM2.cpp.

◆ main()

int main ( )

Definition at line 1048 of file testGaussianISAM2.cpp.

◆ TEST() [1/22]

TEST ( ActiveFactorTesting  ,
Issue1596   
)

Definition at line 1019 of file testGaussianISAM2.cpp.

◆ TEST() [2/22]

TEST ( ISAM2  ,
calculate_nnz   
)

Definition at line 988 of file testGaussianISAM2.cpp.

◆ TEST() [3/22]

TEST ( ISAM2  ,
clone   
)

Definition at line 345 of file testGaussianISAM2.cpp.

◆ TEST() [4/22]

TEST ( ISAM2  ,
constrained_ordering   
)

Definition at line 478 of file testGaussianISAM2.cpp.

◆ TEST() [5/22]

TEST ( ISAM2  ,
marginalCovariance   
)

Definition at line 976 of file testGaussianISAM2.cpp.

◆ TEST() [6/22]

TEST ( ISAM2  ,
marginalizationSize   
)

Definition at line 945 of file testGaussianISAM2.cpp.

◆ TEST() [7/22]

TEST ( ISAM2  ,
marginalizeLeaves1   
)

Definition at line 735 of file testGaussianISAM2.cpp.

◆ TEST() [8/22]

TEST ( ISAM2  ,
marginalizeLeaves2   
)

Definition at line 761 of file testGaussianISAM2.cpp.

◆ TEST() [9/22]

TEST ( ISAM2  ,
marginalizeLeaves3   
)

Definition at line 791 of file testGaussianISAM2.cpp.

◆ TEST() [10/22]

TEST ( ISAM2  ,
marginalizeLeaves4   
)

Definition at line 830 of file testGaussianISAM2.cpp.

◆ TEST() [11/22]

TEST ( ISAM2  ,
marginalizeLeaves5   
)

Definition at line 855 of file testGaussianISAM2.cpp.

◆ TEST() [12/22]

TEST ( ISAM2  ,
marginalizeLeaves6   
)

Definition at line 866 of file testGaussianISAM2.cpp.

◆ TEST() [13/22]

TEST ( ISAM2  ,
MarginalizeRoot   
)

Definition at line 915 of file testGaussianISAM2.cpp.

◆ TEST() [14/22]

TEST ( ISAM2  ,
removeFactors   
)

Definition at line 379 of file testGaussianISAM2.cpp.

◆ TEST() [15/22]

TEST ( ISAM2  ,
removeVariables   
)

Definition at line 402 of file testGaussianISAM2.cpp.

◆ TEST() [16/22]

TEST ( ISAM2  ,
simple   
)

Definition at line 283 of file testGaussianISAM2.cpp.

◆ TEST() [17/22]

TEST ( ISAM2  ,
slamlike_solution_dogleg   
)

Definition at line 309 of file testGaussianISAM2.cpp.

◆ TEST() [18/22]

TEST ( ISAM2  ,
slamlike_solution_dogleg_qr   
)

Definition at line 333 of file testGaussianISAM2.cpp.

◆ TEST() [19/22]

TEST ( ISAM2  ,
slamlike_solution_gaussnewton   
)

Definition at line 297 of file testGaussianISAM2.cpp.

◆ TEST() [20/22]

TEST ( ISAM2  ,
slamlike_solution_gaussnewton_qr   
)

Definition at line 321 of file testGaussianISAM2.cpp.

◆ TEST() [21/22]

TEST ( ISAM2  ,
slamlike_solution_partial_relinearization_check   
)

Definition at line 602 of file testGaussianISAM2.cpp.

◆ TEST() [22/22]

TEST ( ISAM2  ,
swapFactors   
)

Definition at line 425 of file testGaussianISAM2.cpp.

Variable Documentation

◆ brNoise

SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0, 0.1).finished())

Definition at line 41 of file testGaussianISAM2.cpp.

◆ model

const SharedNoiseModel model
static

Definition at line 33 of file testGaussianISAM2.cpp.

◆ odoNoise

SharedDiagonal odoNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.1, 0.1, M_PI/100.0).finished())

Definition at line 40 of file testGaussianISAM2.cpp.



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autogenerated on Fri Nov 1 2024 03:43:25