Namespaces | Functions | Variables
testImuFactor.cpp File Reference

Unit test for ImuFactor. More...

#include <gtsam/navigation/ImuFactor.h>
#include <gtsam/navigation/ScenarioRunner.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/linear/Sampler.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>
#include <list>
#include "imuFactorTesting.h"
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
Include dependency graph for testImuFactor.cpp:

Go to the source code of this file.

Namespaces

 common
 
 testing
 

Functions

Vector3 correctedAcc (const PreintegratedImuMeasurements &pim, const Vector3 &measuredAcc, const Vector3 &measuredOmega)
 
int main ()
 
static const Vector3 common::measuredOmega (w, 0, 0)
 
static std::shared_ptr< PreintegrationParamstesting::Params ()
 
 TEST (ImuFactor, Accelerating)
 
 TEST (ImuFactor, bodyPSensorNoBias)
 
 TEST (ImuFactor, bodyPSensorWithBias)
 
 TEST (ImuFactor, CheckCovariance)
 
 TEST (ImuFactor, ErrorAndJacobians)
 
 TEST (ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis)
 
 TEST (ImuFactor, ErrorAndJacobianWithBiases)
 
 TEST (ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement)
 
 TEST (ImuFactor, fistOrderExponential)
 
 TEST (ImuFactor, MultipleMeasurements)
 
 TEST (ImuFactor, PartialDerivative_wrt_Bias)
 
 TEST (ImuFactor, PartialDerivativeLogmap)
 
 TEST (ImuFactor, PredictArbitrary)
 
 TEST (ImuFactor, PredictPositionAndVelocity)
 
 TEST (ImuFactor, PredictRotation)
 
 TEST (ImuFactor, PreintegratedMeasurements)
 
 TEST (ImuFactor, PreintegratedMeasurementsConstruction)
 
 TEST (ImuFactor, PreintegratedMeasurementsReset)
 
 TEST (ImuFactor, PreintegrationBaseMethods)
 
static const Vector3 common::v1 (Vector3(0.5, 0.0, 0.0))
 
static const Vector3 common::v2 (Vector3(0.5, 0.0, 0.0))
 

Variables

static const double common::deltaT = 1.0
 
static const Vector3 common::measuredAcc
 
static const NavState common::state1 (x1, v1)
 
static const NavState common::state2 (x2, v2)
 
static const double common::w = M_PI / 100
 
static const Pose3 common::x1 (Rot3::RzRyRx(M_PI/12.0, M_PI/6.0, M_PI/4.0), Point3(5.0, 1.0, 0))
 
static const Pose3 common::x2 (Rot3::RzRyRx(M_PI/12.0+w, M_PI/6.0, M_PI/4.0), Point3(5.5, 1.0, 0))
 

Detailed Description

Unit test for ImuFactor.

Author
Luca Carlone
Frank Dellaert
Richard Roberts
Stephen Williams

Definition in file testImuFactor.cpp.

Function Documentation

◆ correctedAcc()

Vector3 correctedAcc ( const PreintegratedImuMeasurements pim,
const Vector3 measuredAcc,
const Vector3 measuredOmega 
)

Definition at line 474 of file testImuFactor.cpp.

◆ main()

int main ( )

Definition at line 927 of file testImuFactor.cpp.

◆ TEST() [1/19]

TEST ( ImuFactor  ,
Accelerating   
)

Definition at line 97 of file testImuFactor.cpp.

◆ TEST() [2/19]

TEST ( ImuFactor  ,
bodyPSensorNoBias   
)

Definition at line 684 of file testImuFactor.cpp.

◆ TEST() [3/19]

TEST ( ImuFactor  ,
bodyPSensorWithBias   
)

Definition at line 725 of file testImuFactor.cpp.

◆ TEST() [4/19]

TEST ( ImuFactor  ,
CheckCovariance   
)

Definition at line 904 of file testImuFactor.cpp.

◆ TEST() [5/19]

TEST ( ImuFactor  ,
ErrorAndJacobians   
)

Definition at line 243 of file testImuFactor.cpp.

◆ TEST() [6/19]

TEST ( ImuFactor  ,
ErrorAndJacobianWith2ndOrderCoriolis   
)

Definition at line 355 of file testImuFactor.cpp.

◆ TEST() [7/19]

TEST ( ImuFactor  ,
ErrorAndJacobianWithBiases   
)

Definition at line 309 of file testImuFactor.cpp.

◆ TEST() [8/19]

TEST ( ImuFactor  ,
ErrorWithBiasesAndSensorBodyDisplacement   
)

Definition at line 481 of file testImuFactor.cpp.

◆ TEST() [9/19]

TEST ( ImuFactor  ,
fistOrderExponential   
)

Definition at line 443 of file testImuFactor.cpp.

◆ TEST() [10/19]

TEST ( ImuFactor  ,
MultipleMeasurements   
)

Definition at line 224 of file testImuFactor.cpp.

◆ TEST() [11/19]

TEST ( ImuFactor  ,
PartialDerivative_wrt_Bias   
)

Definition at line 394 of file testImuFactor.cpp.

◆ TEST() [12/19]

TEST ( ImuFactor  ,
PartialDerivativeLogmap   
)

Definition at line 420 of file testImuFactor.cpp.

◆ TEST() [13/19]

TEST ( ImuFactor  ,
PredictArbitrary   
)

Definition at line 631 of file testImuFactor.cpp.

◆ TEST() [14/19]

TEST ( ImuFactor  ,
PredictPositionAndVelocity   
)

Definition at line 575 of file testImuFactor.cpp.

◆ TEST() [15/19]

TEST ( ImuFactor  ,
PredictRotation   
)

Definition at line 604 of file testImuFactor.cpp.

◆ TEST() [16/19]

TEST ( ImuFactor  ,
PreintegratedMeasurements   
)

Definition at line 120 of file testImuFactor.cpp.

◆ TEST() [17/19]

TEST ( ImuFactor  ,
PreintegratedMeasurementsConstruction   
)

Definition at line 62 of file testImuFactor.cpp.

◆ TEST() [18/19]

TEST ( ImuFactor  ,
PreintegratedMeasurementsReset   
)

Definition at line 72 of file testImuFactor.cpp.

◆ TEST() [19/19]

TEST ( ImuFactor  ,
PreintegrationBaseMethods   
)

Definition at line 192 of file testImuFactor.cpp.



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autogenerated on Fri Nov 1 2024 03:43:25