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>
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< PreintegrationParams > | testing::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)) |
Unit test for ImuFactor.
Definition in file testImuFactor.cpp.
Vector3 correctedAcc | ( | const PreintegratedImuMeasurements & | pim, |
const Vector3 & | measuredAcc, | ||
const Vector3 & | measuredOmega | ||
) |
Definition at line 474 of file testImuFactor.cpp.
int main | ( | ) |
Definition at line 927 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
Accelerating | |||
) |
Definition at line 97 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
bodyPSensorNoBias | |||
) |
Definition at line 684 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
bodyPSensorWithBias | |||
) |
Definition at line 725 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
CheckCovariance | |||
) |
Definition at line 904 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
ErrorAndJacobians | |||
) |
Definition at line 243 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
ErrorAndJacobianWith2ndOrderCoriolis | |||
) |
Definition at line 355 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
ErrorAndJacobianWithBiases | |||
) |
Definition at line 309 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
ErrorWithBiasesAndSensorBodyDisplacement | |||
) |
Definition at line 481 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
fistOrderExponential | |||
) |
Definition at line 443 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
MultipleMeasurements | |||
) |
Definition at line 224 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
PartialDerivative_wrt_Bias | |||
) |
Definition at line 394 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
PartialDerivativeLogmap | |||
) |
Definition at line 420 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
PredictArbitrary | |||
) |
Definition at line 631 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
PredictPositionAndVelocity | |||
) |
Definition at line 575 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
PredictRotation | |||
) |
Definition at line 604 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
PreintegratedMeasurements | |||
) |
Definition at line 120 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
PreintegratedMeasurementsConstruction | |||
) |
Definition at line 62 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
PreintegratedMeasurementsReset | |||
) |
Definition at line 72 of file testImuFactor.cpp.
TEST | ( | ImuFactor | , |
PreintegrationBaseMethods | |||
) |
Definition at line 192 of file testImuFactor.cpp.