testCombinedImuFactor.cpp File Reference

Unit test for Lupton-style combined IMU factor. More...

#include <gtsam/navigation/ImuFactor.h>
#include <gtsam/navigation/CombinedImuFactor.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/bind.hpp>
#include <list>
#include "imuFactorTesting.h"

Include dependency graph for testCombinedImuFactor.cpp:

Go to the source code of this file.

Namespaces
	testing

Functions
int	main ()
static boost::shared_ptr< PreintegratedCombinedMeasurements::Params >	testing::Params ()
	TEST (CombinedImuFactor, PreintegratedMeasurements)
	TEST (CombinedImuFactor, ErrorWithBiases)
	TEST (CombinedImuFactor, PredictPositionAndVelocity)
	TEST (CombinedImuFactor, PredictRotation)

Detailed Description

Unit test for Lupton-style combined IMU factor.

Author

Luca Carlone

Frank Dellaert

Richard Roberts

Stephen Williams

Definition in file testCombinedImuFactor.cpp.

Function Documentation

int main

(

void

)

Definition at line 208 of file testCombinedImuFactor.cpp.

TEST	(	CombinedImuFactor	,
		PreintegratedMeasurements
	)

< Current estimate of acceleration and angular rate biases

Definition at line 49 of file testCombinedImuFactor.cpp.

TEST	(	CombinedImuFactor	,
		ErrorWithBiases
	)

Definition at line 76 of file testCombinedImuFactor.cpp.

TEST	(	CombinedImuFactor	,
		PredictPositionAndVelocity
	)

Definition at line 158 of file testCombinedImuFactor.cpp.

TEST	(	CombinedImuFactor	,
		PredictRotation
	)

Definition at line 187 of file testCombinedImuFactor.cpp.