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28 using namespace gtsam;
31 TEST( LinearizedFactor, equals_jacobian )
54 TEST( LinearizedFactor, clone_jacobian )
77 Matrix information1 = jf1->augmentedInformation();
78 Matrix information2 = jf2->augmentedInformation();
83 TEST( LinearizedFactor, add_jacobian )
164 TEST( LinearizedFactor, equals_hessian )
188 TEST( LinearizedFactor, clone_hessian )
212 TEST( LinearizedFactor, add_hessian )
static int runAllTests(TestResult &result)
A Gaussian factor using the canonical parameters (information form)
std::shared_ptr< This > shared_ptr
A shared_ptr to this class.
gtsam::NonlinearFactor::shared_ptr clone() const override
std::shared_ptr< GaussianFactor > linearize(const Values &x) const override
Some functions to compute numerical derivatives.
std::shared_ptr< GaussianFactor > linearize(const Values &c) const override
void insert(Key j, const Vector &value)
noiseModel::Base::shared_ptr SharedNoiseModel
noiseModel::Diagonal::shared_ptr model
TEST(SmartFactorBase, Pinhole)
const HybridGaussianFactorGraph graph2
Factor Graph consisting of non-linear factors.
IsDerived< DERIVEDFACTOR > push_back(std::shared_ptr< DERIVEDFACTOR > factor)
Add a factor directly using a shared_ptr.
gtsam::NonlinearFactor::shared_ptr clone() const override
std::shared_ptr< LinearizedJacobianFactor > shared_ptr
const HybridGaussianFactorGraph graph1
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
std::shared_ptr< This > shared_ptr
shared_ptr to this class
static shared_ptr Sigma(size_t dim, double sigma, bool smart=true)
std::uint64_t Key
Integer nonlinear key type.
Pose3 x2(Rot3::Ypr(0.0, 0.0, 0.0), l2)
A non-templated config holding any types of Manifold-group elements.
A dummy factor that allows a linear factor to act as a nonlinear factor.
std::shared_ptr< LinearizedHessianFactor > shared_ptr
gtsam
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autogenerated on Fri Nov 1 2024 03:40:35