testPoseTranslationPrior.cpp File Reference

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/slam/PoseTranslationPrior.h>

Include dependency graph for testPoseTranslationPrior.cpp:

Go to the source code of this file.

Typedefs
typedef PoseTranslationPrior< Pose2 >	Pose2TranslationPrior
typedef PoseTranslationPrior< Pose3 >	Pose3TranslationPrior

Functions
Vector	evalFactorError2 (const Pose2TranslationPrior &factor, const Pose2 &x)
Vector	evalFactorError3 (const Pose3TranslationPrior &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 (testPoseTranslationFactor, level2_error)
	TEST (testPoseTranslationFactor, level2_zero_error)
	TEST (testPoseTranslationFactor, level3_error)
	TEST (testPoseTranslationFactor, level3_zero_error)
	TEST (testPoseTranslationFactor, pitched3_error)
	TEST (testPoseTranslationFactor, pitched3_zero_error)
	TEST (testPoseTranslationFactor, smallrot3_error)
	TEST (testPoseTranslationFactor, smallrot3_zero_error)

Variables
const SharedNoiseModel	model2 = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.2))
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 Rot3	rot3A
const Rot3	rot3B = Rot3::Pitch(-M_PI_2)
const Rot3	rot3C = Rot3::RzRyRx(0.1, 0.2, 0.3)
const double	tol = 1e-5

Detailed Description

Date

Aug 19, 2012

Author

Alex Cunningham

Definition in file testPoseTranslationPrior.cpp.

Typedef Documentation

Pose2TranslationPrior

typedef PoseTranslationPrior<Pose2> Pose2TranslationPrior

Definition at line 21 of file testPoseTranslationPrior.cpp.

Pose3TranslationPrior

typedef PoseTranslationPrior<Pose3> Pose3TranslationPrior

Definition at line 22 of file testPoseTranslationPrior.cpp.

Function Documentation

evalFactorError2()

Vector evalFactorError2	(	const Pose2TranslationPrior &	factor,
		const Pose2 &	x
	)

Definition at line 42 of file testPoseTranslationPrior.cpp.

evalFactorError3()

Vector evalFactorError3	(	const Pose3TranslationPrior &	factor,
		const Pose3 &	x
	)

Definition at line 37 of file testPoseTranslationPrior.cpp.

main()

int main

(

)

Definition at line 127 of file testPoseTranslationPrior.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() [1/8]

TEST	(	testPoseTranslationFactor	,
		level2_error
	)

Definition at line 117 of file testPoseTranslationPrior.cpp.

TEST() [2/8]

TEST	(	testPoseTranslationFactor	,
		level2_zero_error
	)

Definition at line 107 of file testPoseTranslationPrior.cpp.

TEST() [3/8]

TEST	(	testPoseTranslationFactor	,
		level3_error
	)

Definition at line 57 of file testPoseTranslationPrior.cpp.

TEST() [4/8]

TEST	(	testPoseTranslationFactor	,
		level3_zero_error
	)

Definition at line 47 of file testPoseTranslationPrior.cpp.

TEST() [5/8]

TEST	(	testPoseTranslationFactor	,
		pitched3_error
	)

Definition at line 77 of file testPoseTranslationPrior.cpp.

TEST() [6/8]

TEST	(	testPoseTranslationFactor	,
		pitched3_zero_error
	)

Definition at line 67 of file testPoseTranslationPrior.cpp.

TEST() [7/8]

TEST	(	testPoseTranslationFactor	,
		smallrot3_error
	)

Definition at line 97 of file testPoseTranslationPrior.cpp.

TEST() [8/8]

TEST	(	testPoseTranslationFactor	,
		smallrot3_zero_error
	)

Definition at line 87 of file testPoseTranslationPrior.cpp.

Variable Documentation

model2

const SharedNoiseModel model2 = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.2))

Definition at line 18 of file testPoseTranslationPrior.cpp.

model3

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

Definition at line 19 of file testPoseTranslationPrior.cpp.

poseKey

const gtsam::Key poseKey = 1

Definition at line 26 of file testPoseTranslationPrior.cpp.

rot2A

const Rot2 rot2A

Definition at line 34 of file testPoseTranslationPrior.cpp.

rot2B

const Rot2 rot2B = Rot2::fromAngle(M_PI_2)

Definition at line 34 of file testPoseTranslationPrior.cpp.

rot3A

const Rot3 rot3A

Definition at line 30 of file testPoseTranslationPrior.cpp.

rot3B

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

Definition at line 30 of file testPoseTranslationPrior.cpp.

rot3C

const Rot3 rot3C = Rot3::RzRyRx(0.1, 0.2, 0.3)

Definition at line 30 of file testPoseTranslationPrior.cpp.

tol

const double tol = 1e-5

Definition at line 24 of file testPoseTranslationPrior.cpp.