Unit tests for HybridNonlinearFactorGraph. More...

#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/utilities.h>
#include <gtsam/discrete/DiscreteBayesNet.h>
#include <gtsam/discrete/DiscreteDistribution.h>
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/hybrid/HybridEliminationTree.h>
#include <gtsam/hybrid/HybridFactor.h>
#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
#include <gtsam/hybrid/MixtureFactor.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <numeric>
#include "Switching.h"
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testHybridNonlinearFactorGraph.cpp:

Go to the source code of this file.

Functions
GaussianFactorGraph::shared_ptr	batchGFG (double between, Values linearizationPoint)

int	main ()

	TEST (GaussianElimination, Eliminate_x0)

	TEST (HybridFactorGraph, DefaultDecisionTree)

	TEST (HybridFactorGraph, EliminationTree)

	TEST (HybridFactorGraph, Full_Elimination)

	TEST (HybridFactorGraph, GaussianFactorGraph)

	TEST (HybridFactorGraph, Linearization)

	TEST (HybridFactorGraph, Partial_Elimination)

	TEST (HybridFactorGraph, PrintErrors)

	TEST (HybridFactorGraph, Printing)

	TEST (HybridFactorGraph, PushBack)

	TEST (HybridFactorGraph, Switching)

	TEST (HybridGaussianElimination, EliminateHybrid_2_Variable)

	TEST (HybridGaussianFactorGraph, MixtureFactor)

	TEST (HybridGaussianFactorGraph, Resize)

	TEST (HybridNonlinearFactorGraph, Equals)

	TEST (HybridNonlinearFactorGraph, Resize)

	TEST (HybridsGaussianElimination, Eliminate_x1)

Detailed Description

Unit tests for HybridNonlinearFactorGraph.

Author: Varun Agrawal; Fan Jiang; Frank Dellaert

Date: December 2021

Definition in file testHybridNonlinearFactorGraph.cpp.

Function Documentation

◆ batchGFG()

GaussianFactorGraph::shared_ptr batchGFG	(	double	between,
		Values	linearizationPoint
	)

Definition at line 325 of file testHybridNonlinearFactorGraph.cpp.

◆ main()

int main ( )

Definition at line 822 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [1/17]

TEST	(	GaussianElimination	,
		Eliminate_x0
	)

Definition at line 278 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [2/17]

TEST	(	HybridFactorGraph	,
		DefaultDecisionTree
	)

Definition at line 764 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [3/17]

TEST	(	HybridFactorGraph	,
		EliminationTree
	)

Definition at line 263 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [4/17]

TEST	(	HybridFactorGraph	,
		Full_Elimination
	)

Definition at line 422 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [5/17]

TEST	(	HybridFactorGraph	,
		GaussianFactorGraph
	)

Definition at line 53 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [6/17]

TEST	(	HybridFactorGraph	,
		Linearization
	)

Definition at line 250 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [7/17]

TEST	(	HybridFactorGraph	,
		Partial_Elimination
	)

Definition at line 371 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [8/17]

TEST	(	HybridFactorGraph	,
		PrintErrors
	)

Definition at line 400 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [9/17]

TEST	(	HybridFactorGraph	,
		Printing
	)

Definition at line 490 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [10/17]

TEST	(	HybridFactorGraph	,
		PushBack
	)

Definition at line 181 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [11/17]

TEST	(	HybridFactorGraph	,
		Switching
	)

Definition at line 240 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [12/17]

TEST	(	HybridGaussianElimination	,
		EliminateHybrid_2_Variable
	)

Definition at line 341 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [13/17]

TEST	(	HybridGaussianFactorGraph	,
		MixtureFactor
	)

Definition at line 156 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [14/17]

TEST	(	HybridGaussianFactorGraph	,
		Resize
	)

Definition at line 121 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [15/17]

TEST	(	HybridNonlinearFactorGraph	,
		Equals
	)

Definition at line 76 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [16/17]

TEST	(	HybridNonlinearFactorGraph	,
		Resize
	)

Definition at line 100 of file testHybridNonlinearFactorGraph.cpp.

◆ TEST() [17/17]

TEST	(	HybridsGaussianElimination	,
		Eliminate_x1
	)

Definition at line 303 of file testHybridNonlinearFactorGraph.cpp.

Functions