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testInitializePose3.cpp File Reference

Unit tests for 3D SLAM initialization, using rotation relaxation. More...

#include <gtsam/slam/InitializePose3.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Pose3.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>
Include dependency graph for testInitializePose3.cpp:

Go to the source code of this file.

Namespaces

 simple
 

Functions

NonlinearFactorGraph simple::graph ()
 
NonlinearFactorGraph simple::graph2 ()
 
int main ()
 
static SharedNoiseModel model (noiseModel::Isotropic::Sigma(6, 0.1))
 
 TEST (InitializePose3, buildPose3graph)
 
 TEST (InitializePose3, initializePoses)
 
 TEST (InitializePose3, iterationGradient)
 
 TEST (InitializePose3, orientations)
 
 TEST (InitializePose3, orientationsGradient)
 
 TEST (InitializePose3, orientationsGradientSymbolicGraph)
 
 TEST (InitializePose3, orientationsPrecisions)
 
 TEST (InitializePose3, posesWithGivenGuess)
 
 TEST (InitializePose3, singleGradient)
 

Variables

static Point3 simple::p0 = Point3(0,0,0)
 
static Point3 simple::p1 = Point3(1,2,0)
 
static Point3 simple::p2 = Point3(0,2,0)
 
static Point3 simple::p3 = Point3(-1,1,0)
 
static Pose3 simple::pose0 = Pose3(R0,p0)
 
static Pose3 simple::pose1 = Pose3(R1,p1)
 
static Pose3 simple::pose2 = Pose3(R2,p2)
 
static Pose3 simple::pose3 = Pose3(R3,p3)
 
static Rot3 simple::R0 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,0.0 ).finished() )
 
static Rot3 simple::R1 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,1.570796 ).finished() )
 
static Rot3 simple::R2 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,3.141593 ).finished() )
 
static Rot3 simple::R3 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,4.712389 ).finished() )
 
static Symbol x0 ('x', 0)
 
static Symbol x1 ('x', 1)
 
static Symbol x2 ('x', 2)
 
static Symbol x3 ('x', 3)
 

Detailed Description

Unit tests for 3D SLAM initialization, using rotation relaxation.

Author
Luca Carlone
Frank Dellaert
Date
August, 2014

Definition in file testInitializePose3.cpp.

Function Documentation

◆ main()

int main ( )

Definition at line 279 of file testInitializePose3.cpp.

◆ model()

static SharedNoiseModel model ( noiseModel::Isotropic::Sigma(6, 0.1)  )
static

◆ TEST() [1/9]

TEST ( InitializePose3  ,
buildPose3graph   
)

Definition at line 92 of file testInitializePose3.cpp.

◆ TEST() [2/9]

TEST ( InitializePose3  ,
initializePoses   
)

Definition at line 265 of file testInitializePose3.cpp.

◆ TEST() [3/9]

TEST ( InitializePose3  ,
iterationGradient   
)

Definition at line 173 of file testInitializePose3.cpp.

◆ TEST() [4/9]

TEST ( InitializePose3  ,
orientations   
)

Definition at line 98 of file testInitializePose3.cpp.

◆ TEST() [5/9]

TEST ( InitializePose3  ,
orientationsGradient   
)

Definition at line 214 of file testInitializePose3.cpp.

◆ TEST() [6/9]

TEST ( InitializePose3  ,
orientationsGradientSymbolicGraph   
)

Definition at line 124 of file testInitializePose3.cpp.

◆ TEST() [7/9]

TEST ( InitializePose3  ,
orientationsPrecisions   
)

Definition at line 111 of file testInitializePose3.cpp.

◆ TEST() [8/9]

TEST ( InitializePose3  ,
posesWithGivenGuess   
)

Definition at line 251 of file testInitializePose3.cpp.

◆ TEST() [9/9]

TEST ( InitializePose3  ,
singleGradient   
)

Definition at line 156 of file testInitializePose3.cpp.

Variable Documentation

◆ x0

Symbol x0( 'x', 0)
static

◆ x1

Symbol x1( 'x', 1)

◆ x2

Symbol x2( 'x', 2)

◆ x3

Symbol x3( 'x', 3)


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autogenerated on Fri Nov 1 2024 03:43:25