Functions | Variables
testRegularImplicitSchurFactor.cpp File Reference

unit test implicit jacobian factors More...

#include <gtsam/slam/JacobianFactorQ.h>
#include <gtsam/slam/JacobianFactorQR.h>
#include <gtsam/slam/RegularImplicitSchurFactor.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/linear/VectorValues.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/linear/GaussianFactor.h>
#include <gtsam/base/timing.h>
#include <CppUnitLite/TestHarness.h>
Include dependency graph for testRegularImplicitSchurFactor.cpp:

Go to the source code of this file.

Functions

int main (void)
 
 TEST (regularImplicitSchurFactor, addHessianMultiply)
 
 TEST (regularImplicitSchurFactor, creation)
 
 TEST (regularImplicitSchurFactor, hessianDiagonal)
 

Variables

const Vector b = (Vector(6) << 1., 2., 3., 4., 5., 6.).finished()
 
const Matrix26 F0 = Matrix26::Ones()
 
const Matrix26 F1 = 2 * Matrix26::Ones()
 
const Matrix26 F3 = 3 * Matrix26::Ones()
 
const vector< Matrix26, Eigen::aligned_allocator< Matrix26 > > FBlocks {F0, F1, F3}
 
const KeyVector keys {0, 1, 3}
 

Detailed Description

unit test implicit jacobian factors

Author
Frank Dellaert
Date
Oct 20, 2013

Definition in file testRegularImplicitSchurFactor.cpp.

Function Documentation

◆ main()

int main ( void  )

Definition at line 275 of file testRegularImplicitSchurFactor.cpp.

◆ TEST() [1/3]

TEST ( regularImplicitSchurFactor  ,
addHessianMultiply   
)

Definition at line 57 of file testRegularImplicitSchurFactor.cpp.

◆ TEST() [2/3]

TEST ( regularImplicitSchurFactor  ,
creation   
)

Definition at line 45 of file testRegularImplicitSchurFactor.cpp.

◆ TEST() [3/3]

TEST ( regularImplicitSchurFactor  ,
hessianDiagonal   
)

Definition at line 202 of file testRegularImplicitSchurFactor.cpp.

Variable Documentation

◆ b

const Vector b = (Vector(6) << 1., 2., 3., 4., 5., 6.).finished()

Definition at line 42 of file testRegularImplicitSchurFactor.cpp.

◆ F0

const Matrix26 F0 = Matrix26::Ones()

Definition at line 36 of file testRegularImplicitSchurFactor.cpp.

◆ F1

const Matrix26 F1 = 2 * Matrix26::Ones()

Definition at line 37 of file testRegularImplicitSchurFactor.cpp.

◆ F3

const Matrix26 F3 = 3 * Matrix26::Ones()

Definition at line 38 of file testRegularImplicitSchurFactor.cpp.

◆ FBlocks

const vector<Matrix26, Eigen::aligned_allocator<Matrix26> > FBlocks {F0, F1, F3}

Definition at line 39 of file testRegularImplicitSchurFactor.cpp.

◆ keys

const KeyVector keys {0, 1, 3}

Definition at line 40 of file testRegularImplicitSchurFactor.cpp.



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