#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/SO4.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/KarcherMeanFactor-inl.h>
#include <gtsam/slam/KarcherMeanFactor.h>
#include <CppUnitLite/TestHarness.h>
Go to the source code of this file.
Functions | |
int | main () |
TEST (KarcherMean, FactorRot3) | |
TEST (KarcherMean, FactorSO4) | |
TEST (KarcherMean, FindRot3) | |
TEST (KarcherMean, FindSO4) | |
Variables | |
static const SO4 | Q = SO4::Expmap((Vector6() << 1, 2, 3, 4, 5, 6).finished()) |
static const Rot3 | R = Rot3::Expmap(Vector3(0.1, 0, 0)) |
int main | ( | ) |
Definition at line 107 of file testKarcherMeanFactor.cpp.
TEST | ( | KarcherMean | , |
FactorRot3 | |||
) |
Definition at line 47 of file testKarcherMeanFactor.cpp.
TEST | ( | KarcherMean | , |
FactorSO4 | |||
) |
Definition at line 85 of file testKarcherMeanFactor.cpp.
TEST | ( | KarcherMean | , |
FindRot3 | |||
) |
Definition at line 38 of file testKarcherMeanFactor.cpp.
TEST | ( | KarcherMean | , |
FindSO4 | |||
) |
Definition at line 77 of file testKarcherMeanFactor.cpp.
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static |
Definition at line 74 of file testKarcherMeanFactor.cpp.
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static |
Definition at line 33 of file testKarcherMeanFactor.cpp.