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19 using namespace gtsam;
51 TEST( testPoseRotationFactor, level3_zero_error ) {
61 TEST( testPoseRotationFactor, level3_error ) {
65 #if defined(GTSAM_ROT3_EXPMAP) || defined(GTSAM_USE_QUATERNIONS)
77 TEST( testPoseRotationFactor, level2_zero_error ) {
87 TEST( testPoseRotationFactor, level2_error ) {
97 TEST( testPoseRotationFactor, level2_error_wrap ) {
static int runAllTests(TestResult &result)
const Point2 point2A(1.0, 2.0)
PoseRotationPrior< Pose2 > Pose2RotationPrior
const Point2 point2B(4.0, 6.0)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
#define EXPECT(condition)
static const Eigen::MatrixBase< Vector3 >::ConstantReturnType Z_3x1
Vector evalFactorError3(const Pose3RotationPrior &factor, const Pose3 &x)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
Vector evalFactorError2(const Pose2RotationPrior &factor, const Pose2 &x)
static shared_ptr Sigmas(const Vector &sigmas, bool smart=true)
const Point3 point3A(1.0, 2.0, 3.0)
Implements a prior on the rotation component of a pose.
PoseRotationPrior< Pose3 > Pose3RotationPrior
static Rot2 fromAngle(double theta)
Named constructor from angle in radians.
Some functions to compute numerical derivatives.
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
static Rot3 Pitch(double t)
Positive pitch is up (increasing aircraft altitude).See ypr.
noiseModel::Base::shared_ptr SharedNoiseModel
Vector evaluateError(const Pose &pose, OptionalMatrixType H) const override
TEST(SmartFactorBase, Pinhole)
static const Pose3 pose1(Rot3(), Point3(0, 1, 0.5))
static Rot3 Expmap(const Vector3 &v, OptionalJacobian< 3, 3 > H={})
const Point3 point3B(4.0, 6.0, 8.0)
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
const SharedNoiseModel model3
std::uint64_t Key
Integer nonlinear key type.
const SharedNoiseModel model1
gtsam
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autogenerated on Fri Nov 1 2024 03:41:00