testInitializePose3.cpp File Reference

Unit tests for 3D SLAM initialization, using rotation relaxation. More...

#include <gtsam/slam/InitializePose3.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Pose3.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>

Include dependency graph for testInitializePose3.cpp:

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Namespaces
	simple

Functions
NonlinearFactorGraph	simple::graph ()
NonlinearFactorGraph	simple::graph2 ()
int	main ()
static SharedNoiseModel	model (noiseModel::Isotropic::Sigma(6, 0.1))
	TEST (InitializePose3, buildPose3graph)
	TEST (InitializePose3, orientations)
	TEST (InitializePose3, orientationsPrecisions)
	TEST (InitializePose3, orientationsGradientSymbolicGraph)
	TEST (InitializePose3, singleGradient)
	TEST (InitializePose3, iterationGradient)
	TEST (InitializePose3, orientationsGradient)
	TEST (InitializePose3, posesWithGivenGuess)
	TEST (InitializePose3, initializePoses)

Variables
static Point3	simple::p0 = Point3(0,0,0)
static Point3	simple::p1 = Point3(1,2,0)
static Point3	simple::p2 = Point3(0,2,0)
static Point3	simple::p3 = Point3(-1,1,0)
static Pose3	simple::pose0 = Pose3(R0,p0)
static Pose3	simple::pose1 = Pose3(R1,p1)
static Pose3	simple::pose2 = Pose3(R2,p2)
static Pose3	simple::pose3 = Pose3(R3,p3)
static Rot3	simple::R0 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,0.0 ).finished() )
static Rot3	simple::R1 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,1.570796 ).finished() )
static Rot3	simple::R2 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,3.141593 ).finished() )
static Rot3	simple::R3 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,4.712389 ).finished() )
static Symbol	x0 ('x', 0)
static Symbol	x1 ('x', 1)
static Symbol	x2 ('x', 2)
static Symbol	x3 ('x', 3)

Detailed Description

Unit tests for 3D SLAM initialization, using rotation relaxation.

Author

Luca Carlone

Frank Dellaert

Date

August, 2014

Definition in file testInitializePose3.cpp.

Function Documentation

int main

(

void

)

Definition at line 284 of file testInitializePose3.cpp.

static SharedNoiseModel model ( noiseModel::Isotropic::Sigma(6, 0.1)  )

static

TEST	(	InitializePose3	,
		buildPose3graph
	)

Definition at line 93 of file testInitializePose3.cpp.

TEST	(	InitializePose3	,
		orientations
	)

Definition at line 99 of file testInitializePose3.cpp.

TEST	(	InitializePose3	,
		orientationsPrecisions
	)

Definition at line 112 of file testInitializePose3.cpp.

TEST	(	InitializePose3	,
		orientationsGradientSymbolicGraph
	)

Definition at line 125 of file testInitializePose3.cpp.

TEST	(	InitializePose3	,
		singleGradient
	)

Definition at line 157 of file testInitializePose3.cpp.

TEST	(	InitializePose3	,
		iterationGradient
	)

Definition at line 174 of file testInitializePose3.cpp.

TEST	(	InitializePose3	,
		orientationsGradient
	)

Definition at line 215 of file testInitializePose3.cpp.

TEST	(	InitializePose3	,
		posesWithGivenGuess
	)

Definition at line 254 of file testInitializePose3.cpp.

TEST	(	InitializePose3	,
		initializePoses
	)

Definition at line 268 of file testInitializePose3.cpp.

Variable Documentation

Symbol x0('x', 0)

static

Symbol x1('x', 1)

Symbol x2('x', 2)

Symbol x3('x', 3)