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25 using namespace std::placeholders;
27 using namespace gtsam;
91 Matrix H1Expected, H2Expected;
92 H1Expected = numericalDerivative11<Vector, Point3>(
94 H2Expected = numericalDerivative11<Vector, Point3>(
157 Matrix H1Actual, H2Actual, H3Actual;
161 Matrix H1Expected, H2Expected, H3Expected;
162 H1Expected = numericalDerivative11<Vector, Point3>(
164 H2Expected = numericalDerivative11<Vector, Point3>(
166 H3Expected = numericalDerivative11<Vector, Vector1>(
static int runAllTests(TestResult &result)
static const Unit3 kMeasured(1, 0, 0)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
#define EXPECT(condition)
Binary factor for a relative translation direction measurement.
Vector bilinearAngleFactorError(const Point3 &T1, const Point3 &T2, const Vector1 &scale, const BilinearAngleTranslationFactor &factor)
Vector evaluateError(const Point3 &Ta, const Point3 &Tb, OptionalMatrixType H1, OptionalMatrixType H2) const override
Calculate error: (norm(Tb - Ta) - measurement) where Tb and Ta are Point3 translations and measuremen...
Vector evaluateError(const Point3 &Ta, const Point3 &Tb, const Vector1 &scale, OptionalMatrixType H1, OptionalMatrixType H2, OptionalMatrixType H3) const override
Calculate error: (scale * (Tb - Ta) - measurement) where Tb and Ta are Point3 translations and measur...
static const Key kKey2(1)
TEST(TranslationFactor, Constructor)
Some functions to compute numerical derivatives.
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static const Key kKey1(2)
static const Pose3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), P2)
noiseModel::Base::shared_ptr SharedNoiseModel
static SharedNoiseModel model(noiseModel::Isotropic::Sigma(3, 0.05))
static const Key kEdgeKey(3)
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
The matrix class, also used for vectors and row-vectors.
Represents a 3D point on a unit sphere.
static const Similarity3 T1(R, Point3(3.5, -8.2, 4.2), 1)
std::uint64_t Key
Integer nonlinear key type.
Jet< T, N > sqrt(const Jet< T, N > &f)
Vector factorError(const Point3 &T1, const Point3 &T2, const TranslationFactor &factor)
gtsam
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autogenerated on Fri Nov 1 2024 03:41:53