testSOn.cpp File Reference

Unit tests for dynamic SO(n) classes. More...

#include <gtsam/geometry/SO3.h>
#include <gtsam/geometry/SO4.h>
#include <gtsam/geometry/SOn.h>
#include <gtsam/base/Lie.h>
#include <gtsam/base/Manifold.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/lieProxies.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/testLie.h>
#include <gtsam/nonlinear/Values.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>
#include <random>
#include <stdexcept>
#include <type_traits>

Include dependency graph for testSOn.cpp:

Go to the source code of this file.

Functions
int	main ()
Matrix	RetractJacobian (size_t n)
	TEST (SOn, Concept)
	TEST (SOn, CopyConstructor)
	TEST (SOn, HatVee)
	TEST (SOn, Random)
	TEST (SOn, RetractJacobian)
	Test Jacobian of Retract at origin. More...
	TEST (SOn, RetractLocal)
	TEST (SOn, SO0)
	TEST (SOn, SO5)
	TEST (SOn, SOn0)
	TEST (SOn, SOn5)
	TEST (SOn, Values)
	TEST (SOn, vec)
	TEST (SOn, VectorizedGenerators)

Detailed Description

Unit tests for dynamic SO(n) classes.

Author

Frank Dellaert

Definition in file testSOn.cpp.

Function Documentation

main()

int main

(

)

Definition at line 231 of file testSOn.cpp.

RetractJacobian()

Matrix RetractJacobian

(

size_t

n

)

Definition at line 187 of file testSOn.cpp.

TEST() [1/13]

TEST	(	SOn	,
		Concept
	)

Definition at line 86 of file testSOn.cpp.

TEST() [2/13]

TEST	(	SOn	,
		CopyConstructor
	)

Definition at line 93 of file testSOn.cpp.

TEST() [3/13]

TEST	(	SOn	,
		HatVee
	)

Definition at line 120 of file testSOn.cpp.

TEST() [4/13]

TEST	(	SOn	,
		Random
	)

Definition at line 112 of file testSOn.cpp.

TEST() [5/13]

TEST	(	SOn	,
		RetractJacobian
	)

Test Jacobian of Retract at origin.

Definition at line 190 of file testSOn.cpp.

TEST() [6/13]

TEST	(	SOn	,
		RetractLocal
	)

Definition at line 160 of file testSOn.cpp.

TEST() [7/13]

TEST	(	SOn	,
		SO0
	)

Definition at line 65 of file testSOn.cpp.

TEST() [8/13]

TEST	(	SOn	,
		SO5
	)

Definition at line 76 of file testSOn.cpp.

TEST() [9/13]

TEST	(	SOn	,
		SOn0
	)

Definition at line 43 of file testSOn.cpp.

TEST() [10/13]

TEST	(	SOn	,
		SOn5
	)

Definition at line 54 of file testSOn.cpp.

TEST() [11/13]

TEST	(	SOn	,
		Values
	)

Definition at line 101 of file testSOn.cpp.

TEST() [12/13]

TEST	(	SOn	,
		vec
	)

Definition at line 202 of file testSOn.cpp.

TEST() [13/13]

TEST	(	SOn	,
		VectorizedGenerators
	)

Definition at line 214 of file testSOn.cpp.