Namespaces | Macros | Functions | Variables
testScenarioRunner.cpp File Reference

test ImuFacor with ScenarioRunner class More...

#include <gtsam/navigation/ScenarioRunner.h>
#include <gtsam/base/timing.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>
Include dependency graph for testScenarioRunner.cpp:

Go to the source code of this file.

Namespaces

 accelerating
 
 accelerating2
 
 accelerating3
 
 accelerating4
 
 forward
 
 initial
 
 initial2
 
 initial3
 
 initial4
 

Macros

#define EXPECT_NEAR(a, b, c)   EXPECT(assert_equal(Vector(a), Vector(b), c));
 

Functions

const Vector3 accelerating::A (0, a, 0)
 
const Vector3 accelerating2::A (0, a, 0)
 
const Vector3 accelerating3::A (0, a, 0)
 
const Vector3 accelerating4::A (0, a, 0)
 
static std::shared_ptr< PreintegrationParamsdefaultParams ()
 
static const Vector3 kAccBias (0.2, 0, 0)
 
static const Vector3 kRotBias (0.1, 0, 0.3)
 
int main ()
 
const Point3 initial::P0 (0, 0, 0)
 
const Point3 initial3::P0 (0, 0, 0)
 
const Point3 initial2::P0 (10, 20, 0)
 
const Point3 initial4::P0 (10, 20, 0)
 
const AcceleratingScenario accelerating::scenario (nRb, P0, V0, A)
 
const AcceleratingScenario accelerating2::scenario (nRb, P0, V0, A)
 
const AcceleratingScenario accelerating3::scenario (nRb, P0, V0, A)
 
const AcceleratingScenario accelerating4::scenario (nRb, P0, V0, A)
 
 TEST (ScenarioRunner, Accelerating)
 
 TEST (ScenarioRunner, Accelerating2)
 
 TEST (ScenarioRunner, Accelerating3)
 
 TEST (ScenarioRunner, Accelerating4)
 
 TEST (ScenarioRunner, AcceleratingAndRotating)
 
 TEST (ScenarioRunner, AcceleratingAndRotating2)
 
 TEST (ScenarioRunner, AcceleratingAndRotating3)
 
 TEST (ScenarioRunner, AcceleratingAndRotating4)
 
 TEST (ScenarioRunner, AcceleratingWithBias)
 
 TEST (ScenarioRunner, AcceleratingWithBias2)
 
 TEST (ScenarioRunner, AcceleratingWithBias3)
 
 TEST (ScenarioRunner, AcceleratingWithBias4)
 
 TEST (ScenarioRunner, Circle)
 
 TEST (ScenarioRunner, Forward)
 
 TEST (ScenarioRunner, ForwardWithBias)
 
 TEST (ScenarioRunner, Loop)
 
 TEST (ScenarioRunner, Spin)
 
const Vector3 initial::V0 (0, 0, 0)
 
const Vector3 initial3::V0 (0, 0, 0)
 
const Vector3 initial2::V0 (50, 0, 0)
 
const Vector3 initial4::V0 (50, 0, 0)
 

Variables

const double accelerating::a = 0.2
 
const double accelerating2::a = 0.2
 
const double accelerating3::a = 0.2
 
const double accelerating4::a = 0.2
 
static const double kAccelSigma = 0.1 / 60.0
 
static const double kDegree = M_PI / 180.0
 
static const double kDt = 1e-2
 
static const double kGyroSigma = 0.5 * kDegree / 60
 
static const imuBias::ConstantBias kNonZeroBias (kAccBias, kRotBias)
 
const Rot3 initial::nRb
 
const Rot3 initial2::nRb
 
const Rot3 initial3::nRb (Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1))
 
const Rot3 initial4::nRb (Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1))
 
ConstantTwistScenario forward::scenario (Z_3x1, Vector3(v, 0, 0))
 
const double accelerating::T = 3
 
const double accelerating2::T = 3
 
const double accelerating3::T = 3
 
const double accelerating4::T = 3
 
const double forward::v = 2
 

Detailed Description

test ImuFacor with ScenarioRunner class

Author
Frank Dellaert

Definition in file testScenarioRunner.cpp.

Macro Definition Documentation

◆ EXPECT_NEAR

#define EXPECT_NEAR (   a,
  b,
  c 
)    EXPECT(assert_equal(Vector(a), Vector(b), c));

Definition at line 47 of file testScenarioRunner.cpp.

Function Documentation

◆ defaultParams()

static std::shared_ptr<PreintegrationParams> defaultParams ( )
static

Definition at line 39 of file testScenarioRunner.cpp.

◆ kAccBias()

static const Vector3 kAccBias ( 0.  2,
,
 
)
static

◆ kRotBias()

static const Vector3 kRotBias ( 0.  1,
,
0.  3 
)

◆ main()

int main ( )

Definition at line 398 of file testScenarioRunner.cpp.

◆ TEST() [1/17]

TEST ( ScenarioRunner  ,
Accelerating   
)

Definition at line 165 of file testScenarioRunner.cpp.

◆ TEST() [2/17]

TEST ( ScenarioRunner  ,
Accelerating2   
)

Definition at line 227 of file testScenarioRunner.cpp.

◆ TEST() [3/17]

TEST ( ScenarioRunner  ,
Accelerating3   
)

Definition at line 290 of file testScenarioRunner.cpp.

◆ TEST() [4/17]

TEST ( ScenarioRunner  ,
Accelerating4   
)

Definition at line 354 of file testScenarioRunner.cpp.

◆ TEST() [5/17]

TEST ( ScenarioRunner  ,
AcceleratingAndRotating   
)

Definition at line 190 of file testScenarioRunner.cpp.

◆ TEST() [6/17]

TEST ( ScenarioRunner  ,
AcceleratingAndRotating2   
)

Definition at line 252 of file testScenarioRunner.cpp.

◆ TEST() [7/17]

TEST ( ScenarioRunner  ,
AcceleratingAndRotating3   
)

Definition at line 315 of file testScenarioRunner.cpp.

◆ TEST() [8/17]

TEST ( ScenarioRunner  ,
AcceleratingAndRotating4   
)

Definition at line 379 of file testScenarioRunner.cpp.

◆ TEST() [9/17]

TEST ( ScenarioRunner  ,
AcceleratingWithBias   
)

Definition at line 179 of file testScenarioRunner.cpp.

◆ TEST() [10/17]

TEST ( ScenarioRunner  ,
AcceleratingWithBias2   
)

Definition at line 241 of file testScenarioRunner.cpp.

◆ TEST() [11/17]

TEST ( ScenarioRunner  ,
AcceleratingWithBias3   
)

Definition at line 304 of file testScenarioRunner.cpp.

◆ TEST() [12/17]

TEST ( ScenarioRunner  ,
AcceleratingWithBias4   
)

Definition at line 368 of file testScenarioRunner.cpp.

◆ TEST() [13/17]

TEST ( ScenarioRunner  ,
Circle   
)

Definition at line 111 of file testScenarioRunner.cpp.

◆ TEST() [14/17]

TEST ( ScenarioRunner  ,
Forward   
)

Definition at line 84 of file testScenarioRunner.cpp.

◆ TEST() [15/17]

TEST ( ScenarioRunner  ,
ForwardWithBias   
)

Definition at line 99 of file testScenarioRunner.cpp.

◆ TEST() [16/17]

TEST ( ScenarioRunner  ,
Loop   
)

Definition at line 129 of file testScenarioRunner.cpp.

◆ TEST() [17/17]

TEST ( ScenarioRunner  ,
Spin   
)

Definition at line 50 of file testScenarioRunner.cpp.

Variable Documentation

◆ kAccelSigma

const double kAccelSigma = 0.1 / 60.0
static

Definition at line 33 of file testScenarioRunner.cpp.

◆ kDegree

const double kDegree = M_PI / 180.0
static

Definition at line 28 of file testScenarioRunner.cpp.

◆ kDt

const double kDt = 1e-2
static

Definition at line 29 of file testScenarioRunner.cpp.

◆ kGyroSigma

const double kGyroSigma = 0.5 * kDegree / 60
static

Definition at line 32 of file testScenarioRunner.cpp.

◆ kNonZeroBias

const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias)
static


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autogenerated on Sat Nov 16 2024 04:09:54