Typedefs | Functions | Variables
testPoseRotationPrior.cpp File Reference

Tests rotation priors on poses. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/slam/PoseRotationPrior.h>
Include dependency graph for testPoseRotationPrior.cpp:

Go to the source code of this file.

Typedefs

typedef PoseRotationPrior< Pose2Pose2RotationPrior
 
typedef PoseRotationPrior< Pose3Pose3RotationPrior
 

Functions

Vector evalFactorError2 (const Pose2RotationPrior &factor, const Pose2 &x)
 
Vector evalFactorError3 (const Pose3RotationPrior &factor, const Pose3 &x)
 
int main ()
 
const Point2 point2A (1.0, 2.0)
 
const Point2 point2B (4.0, 6.0)
 
const Point3 point3A (1.0, 2.0, 3.0)
 
const Point3 point3B (4.0, 6.0, 8.0)
 
 TEST (testPoseRotationFactor, level2_error)
 
 TEST (testPoseRotationFactor, level2_error_wrap)
 
 TEST (testPoseRotationFactor, level2_zero_error)
 
 TEST (testPoseRotationFactor, level3_error)
 
 TEST (testPoseRotationFactor, level3_zero_error)
 

Variables

const SharedNoiseModel model1 = noiseModel::Diagonal::Sigmas((Vector(1) << 0.1).finished())
 
const SharedNoiseModel model3 = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.2, 0.3))
 
const gtsam::Key poseKey = 1
 
const Rot2 rot2A
 
const Rot2 rot2B = Rot2::fromAngle(M_PI_2)
 
const Rot2 rot2C = Rot2::fromAngle(M_PI-0.01)
 
const Rot2 rot2D = Rot2::fromAngle(M_PI+0.01)
 
const Rot3 rot3A
 
const Rot3 rot3B = Rot3::Pitch(-M_PI_2)
 
const Rot3 rot3C = Rot3::Expmap(Vector3(0.1, 0.2, 0.3))
 
const double tol = 1e-5
 

Detailed Description

Tests rotation priors on poses.

Date
Jun 14, 2012
Author
Alex Cunningham

Definition in file testPoseRotationPrior.cpp.

Typedef Documentation

◆ Pose2RotationPrior

Definition at line 24 of file testPoseRotationPrior.cpp.

◆ Pose3RotationPrior

Definition at line 25 of file testPoseRotationPrior.cpp.

Function Documentation

◆ evalFactorError2()

Vector evalFactorError2 ( const Pose2RotationPrior factor,
const Pose2 x 
)

Definition at line 46 of file testPoseRotationPrior.cpp.

◆ evalFactorError3()

Vector evalFactorError3 ( const Pose3RotationPrior factor,
const Pose3 x 
)

Definition at line 41 of file testPoseRotationPrior.cpp.

◆ main()

int main ( )

Definition at line 107 of file testPoseRotationPrior.cpp.

◆ point2A()

const Point2 point2A ( 1.  0,
2.  0 
)

◆ point2B()

const Point2 point2B ( 4.  0,
6.  0 
)

◆ point3A()

const Point3 point3A ( 1.  0,
2.  0,
3.  0 
)

◆ point3B()

const Point3 point3B ( 4.  0,
6.  0,
8.  0 
)

◆ TEST() [1/5]

TEST ( testPoseRotationFactor  ,
level2_error   
)

Definition at line 87 of file testPoseRotationPrior.cpp.

◆ TEST() [2/5]

TEST ( testPoseRotationFactor  ,
level2_error_wrap   
)

Definition at line 97 of file testPoseRotationPrior.cpp.

◆ TEST() [3/5]

TEST ( testPoseRotationFactor  ,
level2_zero_error   
)

Definition at line 77 of file testPoseRotationPrior.cpp.

◆ TEST() [4/5]

TEST ( testPoseRotationFactor  ,
level3_error   
)

Definition at line 61 of file testPoseRotationPrior.cpp.

◆ TEST() [5/5]

TEST ( testPoseRotationFactor  ,
level3_zero_error   
)

Definition at line 51 of file testPoseRotationPrior.cpp.

Variable Documentation

◆ model1

const SharedNoiseModel model1 = noiseModel::Diagonal::Sigmas((Vector(1) << 0.1).finished())

Definition at line 21 of file testPoseRotationPrior.cpp.

◆ model3

const SharedNoiseModel model3 = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.2, 0.3))

Definition at line 22 of file testPoseRotationPrior.cpp.

◆ poseKey

const gtsam::Key poseKey = 1

Definition at line 29 of file testPoseRotationPrior.cpp.

◆ rot2A

const Rot2 rot2A

Definition at line 37 of file testPoseRotationPrior.cpp.

◆ rot2B

const Rot2 rot2B = Rot2::fromAngle(M_PI_2)

Definition at line 37 of file testPoseRotationPrior.cpp.

◆ rot2C

const Rot2 rot2C = Rot2::fromAngle(M_PI-0.01)

Definition at line 38 of file testPoseRotationPrior.cpp.

◆ rot2D

const Rot2 rot2D = Rot2::fromAngle(M_PI+0.01)

Definition at line 38 of file testPoseRotationPrior.cpp.

◆ rot3A

const Rot3 rot3A

Definition at line 33 of file testPoseRotationPrior.cpp.

◆ rot3B

const Rot3 rot3B = Rot3::Pitch(-M_PI_2)

Definition at line 33 of file testPoseRotationPrior.cpp.

◆ rot3C

const Rot3 rot3C = Rot3::Expmap(Vector3(0.1, 0.2, 0.3))

Definition at line 33 of file testPoseRotationPrior.cpp.

◆ tol

const double tol = 1e-5

Definition at line 27 of file testPoseRotationPrior.cpp.



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autogenerated on Sat Nov 16 2024 04:09:54