testBoundingConstraint.cpp File Reference

test of nonlinear inequality constraints on scalar bounds More...

#include <tests/simulated2DConstraints.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testBoundingConstraint.cpp:

Go to the source code of this file.

Functions
int	main ()
	TEST (testBoundingConstraint, unary_basics_inactive1)
	TEST (testBoundingConstraint, unary_basics_inactive2)
	TEST (testBoundingConstraint, unary_basics_active1)
	TEST (testBoundingConstraint, unary_basics_active2)
	TEST (testBoundingConstraint, unary_linearization_inactive)
	TEST (testBoundingConstraint, unary_linearization_active)
	TEST (testBoundingConstraint, unary_simple_optimization1)
	TEST (testBoundingConstraint, unary_simple_optimization2)
	TEST (testBoundingConstraint, MaxDistance_basics)
	TEST (testBoundingConstraint, MaxDistance_simple_optimization)
	TEST (testBoundingConstraint, avoid_demo)

Variables
iq2D::PoseXInequality	constraint1 (key, 1.0, true, mu)
iq2D::PoseYInequality	constraint2 (key, 2.0, true, mu)
iq2D::PoseXInequality	constraint3 (key, 1.0, false, mu)
iq2D::PoseYInequality	constraint4 (key, 2.0, false, mu)
SharedDiagonal	hard_model1 = noiseModel::Constrained::All(1)
gtsam::Key	key = 1
double	mu = 10.0
SharedDiagonal	soft_model2 = noiseModel::Unit::Create(2)
SharedDiagonal	soft_model2_alt = noiseModel::Isotropic::Sigma(2, 0.1)
static const double	tol = 1e-5

Detailed Description

test of nonlinear inequality constraints on scalar bounds

Author

Alex Cunningham

Definition in file testBoundingConstraint.cpp.

Function Documentation

int main

(

void

)

Definition at line 274 of file testBoundingConstraint.cpp.

TEST	(	testBoundingConstraint	,
		unary_basics_inactive1
	)

Definition at line 47 of file testBoundingConstraint.cpp.

TEST	(	testBoundingConstraint	,
		unary_basics_inactive2
	)

Definition at line 66 of file testBoundingConstraint.cpp.

TEST	(	testBoundingConstraint	,
		unary_basics_active1
	)

Definition at line 85 of file testBoundingConstraint.cpp.

TEST	(	testBoundingConstraint	,
		unary_basics_active2
	)

Definition at line 100 of file testBoundingConstraint.cpp.

TEST	(	testBoundingConstraint	,
		unary_linearization_inactive
	)

Definition at line 115 of file testBoundingConstraint.cpp.

TEST	(	testBoundingConstraint	,
		unary_linearization_active
	)

Definition at line 126 of file testBoundingConstraint.cpp.

TEST	(	testBoundingConstraint	,
		unary_simple_optimization1
	)

Definition at line 139 of file testBoundingConstraint.cpp.

TEST	(	testBoundingConstraint	,
		unary_simple_optimization2
	)

Definition at line 161 of file testBoundingConstraint.cpp.

TEST	(	testBoundingConstraint	,
		MaxDistance_basics
	)

Definition at line 182 of file testBoundingConstraint.cpp.

TEST	(	testBoundingConstraint	,
		MaxDistance_simple_optimization
	)

Definition at line 221 of file testBoundingConstraint.cpp.

TEST	(	testBoundingConstraint	,
		avoid_demo
	)

Definition at line 245 of file testBoundingConstraint.cpp.

Variable Documentation

iq2D::PoseXInequality constraint1(key, 1.0, true, mu)

iq2D::PoseYInequality constraint2(key, 2.0, true, mu)

iq2D::PoseXInequality constraint3(key, 1.0, false, mu)

iq2D::PoseYInequality constraint4(key, 2.0, false, mu)

SharedDiagonal hard_model1 = noiseModel::Constrained::All(1)

Definition at line 33 of file testBoundingConstraint.cpp.

gtsam::Key key = 1

Definition at line 36 of file testBoundingConstraint.cpp.

double mu = 10.0

Definition at line 37 of file testBoundingConstraint.cpp.

SharedDiagonal soft_model2 = noiseModel::Unit::Create(2)

Definition at line 31 of file testBoundingConstraint.cpp.

SharedDiagonal soft_model2_alt = noiseModel::Isotropic::Sigma(2, 0.1)

Definition at line 32 of file testBoundingConstraint.cpp.

const double tol = 1e-5

static

Definition at line 29 of file testBoundingConstraint.cpp.