testGaussianISAM2.cpp File Reference

Unit tests for GaussianISAM2. More...

#include <gtsam/nonlinear/ISAM2.h>
#include <tests/smallExample.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianBayesTree.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/inference/Ordering.h>
#include <gtsam/base/debug.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/treeTraversal-inst.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign/list_of.hpp>
#include <boost/range/adaptor/map.hpp>

Include dependency graph for testGaussianISAM2.cpp:

Go to the source code of this file.

Classes
struct	ConsistencyVisitor

Namespaces
	br

Functions
ISAM2	createSlamlikeISAM2 (boost::optional< Values & > init_values=boost::none, boost::optional< NonlinearFactorGraph & > full_graph=boost::none, const ISAM2Params &params=ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, true, ISAM2Params::CHOLESKY, true, DefaultKeyFormatter, true), size_t maxPoses=10)
bool	isam_check (const NonlinearFactorGraph &fullgraph, const Values &fullinit, const ISAM2 &isam, Test &test, TestResult &result)
int	main ()
	TEST (ISAM2, simple)
	TEST (ISAM2, slamlike_solution_gaussnewton)
	TEST (ISAM2, slamlike_solution_dogleg)
	TEST (ISAM2, slamlike_solution_gaussnewton_qr)
	TEST (ISAM2, slamlike_solution_dogleg_qr)
	TEST (ISAM2, clone)
	TEST (ISAM2, removeFactors)
	TEST (ISAM2, removeVariables)
	TEST (ISAM2, swapFactors)
	TEST (ISAM2, constrained_ordering)
	TEST (ISAM2, slamlike_solution_partial_relinearization_check)
	TEST (ISAM2, marginalizeLeaves1)
	TEST (ISAM2, marginalizeLeaves2)
	TEST (ISAM2, marginalizeLeaves3)
	TEST (ISAM2, marginalizeLeaves4)
	TEST (ISAM2, marginalizeLeaves5)
	TEST (ISAM2, marginalCovariance)
	TEST (ISAM2, calculate_nnz)

Variables
SharedDiagonal	brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0, 0.1).finished())
static const SharedNoiseModel	model
SharedDiagonal	odoNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.1, 0.1, M_PI/100.0).finished())

Detailed Description

Unit tests for GaussianISAM2.

Author

Michael Kaess

Definition in file testGaussianISAM2.cpp.

Function Documentation

ISAM2 createSlamlikeISAM2	(	boost::optional< Values & >	init_values = boost::none,
		boost::optional< NonlinearFactorGraph & >	full_graph = boost::none,
		const ISAM2Params &	params = ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0,                                            0, false, true,                                            ISAM2Params::CHOLESKY, true,                                            DefaultKeyFormatter, true),
		size_t	maxPoses = 10
	)

Definition at line 46 of file testGaussianISAM2.cpp.

bool isam_check	(	const NonlinearFactorGraph &	fullgraph,
		const Values &	fullinit,
		const ISAM2 &	isam,
		Test &	test,
		TestResult &	result
	)

Definition at line 225 of file testGaussianISAM2.cpp.

int main

(

void

)

Definition at line 821 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		simple
	)

Definition at line 287 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		slamlike_solution_gaussnewton
	)

Definition at line 301 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		slamlike_solution_dogleg
	)

Definition at line 313 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		slamlike_solution_gaussnewton_qr
	)

Definition at line 325 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		slamlike_solution_dogleg_qr
	)

Definition at line 337 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		clone
	)

Definition at line 349 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		removeFactors
	)

Definition at line 383 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		removeVariables
	)

Definition at line 406 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		swapFactors
	)

Definition at line 429 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		constrained_ordering
	)

Definition at line 483 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		slamlike_solution_partial_relinearization_check
	)

Definition at line 608 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		marginalizeLeaves1
	)

Definition at line 668 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		marginalizeLeaves2
	)

Definition at line 694 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		marginalizeLeaves3
	)

Definition at line 724 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		marginalizeLeaves4
	)

Definition at line 763 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		marginalizeLeaves5
	)

Definition at line 788 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		marginalCovariance
	)

Definition at line 799 of file testGaussianISAM2.cpp.

TEST	(	ISAM2	,
		calculate_nnz
	)

Definition at line 811 of file testGaussianISAM2.cpp.

Variable Documentation

SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0, 0.1).finished())

Definition at line 44 of file testGaussianISAM2.cpp.

const SharedNoiseModel model

static

Definition at line 36 of file testGaussianISAM2.cpp.

SharedDiagonal odoNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.1, 0.1, M_PI/100.0).finished())

Definition at line 43 of file testGaussianISAM2.cpp.