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28 using namespace gtsam;
38 TEST(KarcherMean, FindRot3) {
39 std::vector<Rot3> rotations = {
R,
R.
inverse()};
47 TEST(KarcherMean, FactorRot3) {
55 std::vector<Key>
keys{1, 2};
77 TEST(KarcherMean, FindSO4) {
78 std::vector<SO4, Eigen::aligned_allocator<SO4>> rotations = {
Q,
Q.inverse()};
85 TEST(KarcherMean, FactorSO4) {
88 std::vector<Key>
keys{1, 2};
95 std::vector<SO4, Eigen::aligned_allocator<SO4> > rotations = {
Q,
Q.inverse()};
96 const auto expected = FindKarcherMean<SO4>(rotations);
static int runAllTests(TestResult &result)
Class between(const Class &g) const
virtual const Values & optimize()
#define EXPECT(condition)
T FindKarcherMean(const std::vector< T > &rotations)
TEST(KarcherMean, FindRot3)
4*4 matrix representation of SO(4)
3D rotation represented as a rotation matrix or quaternion
Pose2_ Expmap(const Vector3_ &xi)
const ValueType at(Key j) const
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Rot3 inverse() const
inverse of a rotation
Map< Matrix< T, Dynamic, Dynamic, ColMajor >, 0, OuterStride<> > matrix(T *data, int rows, int cols, int stride)
The quaternion class used to represent 3D orientations and rotations.
Factor Graph consisting of non-linear factors.
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
NonlinearFactorGraph graph
IsDerived< DERIVEDFACTOR > emplace_shared(Args &&... args)
Emplace a shared pointer to factor of given type.
gtsam
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autogenerated on Sat Nov 16 2024 04:07:47