testBearingFactor.cpp File Reference

Unit tests for BearingFactor Class. More...

#include <gtsam/sam/BearingFactor.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <gtsam/base/serialization.h>
#include <gtsam/base/serializationTestHelpers.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testBearingFactor.cpp:

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Typedefs
typedef BearingFactor< Pose2, Point2 >	BearingFactor2D
typedef BearingFactor< Pose3, Point3 >	BearingFactor3D

Functions
	BOOST_CLASS_EXPORT (gtsam::noiseModel::Isotropic)
int	main ()
double	measurement2D (10.0)
static SharedNoiseModel	model2D (noiseModel::Isotropic::Sigma(1, 0.5))
static SharedNoiseModel	model3D (noiseModel::Isotropic::Sigma(2, 0.5))
Key	pointKey (2)
Key	poseKey (1)
	TEST (BearingFactor, Serialization2D)
	TEST (BearingFactor, 2D)
	TEST (BearingFactor, Serialization3D)

Variables
BearingFactor2D	factor2D (poseKey, pointKey, measurement2D, model2D)
BearingFactor3D	factor3D (poseKey, pointKey, measurement3D, model3D)
Unit3	measurement3D = Pose3().bearing(Point3(1, 0, 0))

Detailed Description

Unit tests for BearingFactor Class.

Author

Frank Dellaert

Date

July 2015

Definition in file testBearingFactor.cpp.

Typedef Documentation

typedef BearingFactor<Pose2, Point2> BearingFactor2D

Definition at line 35 of file testBearingFactor.cpp.

typedef BearingFactor<Pose3, Point3> BearingFactor3D

Definition at line 40 of file testBearingFactor.cpp.

Function Documentation

BOOST_CLASS_EXPORT

(

gtsam::noiseModel::Isotropic

)

int main

(

void

)

Definition at line 113 of file testBearingFactor.cpp.

double measurement2D

(

10.

0

)

static SharedNoiseModel model2D ( noiseModel::Isotropic::Sigma(1, 0.5)  )

static

static SharedNoiseModel model3D ( noiseModel::Isotropic::Sigma(2, 0.5)  )

static

Key pointKey

(

2

)

Key poseKey

(

1

)

TEST	(	BearingFactor	,
		Serialization2D
	)

Definition at line 51 of file testBearingFactor.cpp.

TEST	(	BearingFactor	,
		2D
	)

Definition at line 58 of file testBearingFactor.cpp.

TEST	(	BearingFactor	,
		Serialization3D
	)

Definition at line 77 of file testBearingFactor.cpp.

Variable Documentation

BearingFactor2D factor2D(poseKey, pointKey, measurement2D, model2D)

BearingFactor3D factor3D(poseKey, pointKey, measurement3D, model3D)

Unit3 measurement3D = Pose3().bearing(Point3(1, 0, 0))

Definition at line 41 of file testBearingFactor.cpp.