testPose2.cpp File Reference

Unit tests for Pose2 class. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/lieProxies.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Rot2.h>
#include <boost/assign/std/vector.hpp>
#include <boost/optional.hpp>
#include <cmath>
#include <iostream>
#include "testPoseAdjointMap.h"

Include dependency graph for testPose2.cpp:

Go to the source code of this file.

Namespaces
	align_3
	screwPose2

Functions
Point2	screwPose2::expectedT (-0.0446635, 0.29552)
int	main ()
Point2	align_3::p1 (0, 0)
Point2	align_3::p2 (10, 0)
Point2	align_3::p3 (10, 10)
Point2	align_3::t (10, 10)
	TEST (Pose2, Concept)
	TEST (Pose2, constructors)
	TEST (Pose2, manifold)
	TEST (Pose2, retract)
	TEST (Pose2, expmap)
	TEST (Pose2, expmap2)
	TEST (Pose2, expmap3)
	TEST (Pose2, expmap0a)
	TEST (Pose2, expmap0b)
	TEST (Pose2, expmap0c)
	TEST (Pose2, expmap0d)
	TEST (Pose2, expmap_c)
	TEST (Pose2, expmap_c_full)
	TEST (Pose2, Adjoint_full)
	TEST (Pose2, Adjoint_hat)
	TEST (Pose2, logmap)
	TEST (Pose2, logmap_full)
	TEST (Pose2, ExpmapDerivative1)
	TEST (Pose2, ExpmapDerivative2)
	TEST (Pose2, LogmapDerivative1)
	TEST (Pose2, LogmapDerivative2)
	TEST (Pose2, transformTo)
	TEST (Pose2, transformFrom)
	TEST (Pose2, compose_a)
	TEST (Pose2, compose_b)
	TEST (Pose2, compose_c)
	TEST (Pose2, inverse)
	TEST (Pose2, matrix)
	TEST (Pose2, compose_matrix)
	TEST (Pose2, between)
	TEST (Pose2, between2)
	TEST (Pose2, between3)
	TEST (Pose2, round_trip)
	TEST (Pose2, bearing)
	TEST (Pose2, bearing_pose)
	TEST (Pose2, range)
	TEST (Pose2, range_pose)
	TEST (Pose2, align_1)
	TEST (Pose2, align_2)
	TEST (Pose2, align_3)
	TEST (Pose2, align_4)
	TEST (Pose2, Invariants)
	TEST (Pose2, LieGroupDerivatives)
	TEST (Pose2, ChartDerivatives)
	TEST (Pose2, TransformCovariance3)
	TEST (Pose2, Print)
static Point2	transformFrom_ (const Pose2 &pose, const Point2 &point)
static Point2	transformTo_ (const Pose2 &pose, const Point2 &point)

Variables
Pose2	screwPose2::expected (expectedR, expectedT)
Pose2	align_3::expected (Rot2::fromAngle(2 *M_PI/3), t)
Rot2	screwPose2::expectedR = Rot2::fromAngle(w)
Point2	align_3::q1 = expected.transformFrom(p1)
Point2	align_3::q2 = expected.transformFrom(p2)
Point2	align_3::q3 = expected.transformFrom(p3)
Pose2	T1 (M_PI/4.0, Point2(sqrt(0.5), sqrt(0.5)))
Pose2	T2 (M_PI/2.0, Point2(0.0, 2.0))
double	screwPose2::w =0.3
Vector	screwPose2::xi = (Vector(3) << 0.0, w, w).finished()

Detailed Description

Unit tests for Pose2 class.

Definition in file testPose2.cpp.

Function Documentation

int main

(

void

)

Definition at line 931 of file testPose2.cpp.

TEST	(	Pose2	,
		Concept
	)

Definition at line 39 of file testPose2.cpp.

TEST	(	Pose2	,
		constructors
	)

Definition at line 46 of file testPose2.cpp.

TEST	(	Pose2	,
		manifold
	)

Definition at line 56 of file testPose2.cpp.

TEST	(	Pose2	,
		retract
	)

Definition at line 69 of file testPose2.cpp.

TEST	(	Pose2	,
		expmap
	)

Definition at line 81 of file testPose2.cpp.

TEST	(	Pose2	,
		expmap2
	)

Definition at line 89 of file testPose2.cpp.

TEST	(	Pose2	,
		expmap3
	)

Definition at line 97 of file testPose2.cpp.

TEST	(	Pose2	,
		expmap0a
	)

Definition at line 116 of file testPose2.cpp.

TEST	(	Pose2	,
		expmap0b
	)

Definition at line 123 of file testPose2.cpp.

TEST	(	Pose2	,
		expmap0c
	)

Definition at line 131 of file testPose2.cpp.

TEST	(	Pose2	,
		expmap0d
	)

Definition at line 139 of file testPose2.cpp.

TEST	(	Pose2	,
		expmap_c
	)

Definition at line 156 of file testPose2.cpp.

TEST	(	Pose2	,
		expmap_c_full
	)

Definition at line 164 of file testPose2.cpp.

TEST	(	Pose2	,
		Adjoint_full
	)

Definition at line 178 of file testPose2.cpp.

TEST	(	Pose2	,
		Adjoint_hat
	)

Definition at line 192 of file testPose2.cpp.

TEST	(	Pose2	,
		logmap
	)

Definition at line 206 of file testPose2.cpp.

TEST	(	Pose2	,
		logmap_full
	)

Definition at line 219 of file testPose2.cpp.

TEST	(	Pose2	,
		ExpmapDerivative1
	)

Definition at line 228 of file testPose2.cpp.

TEST	(	Pose2	,
		ExpmapDerivative2
	)

Definition at line 238 of file testPose2.cpp.

TEST	(	Pose2	,
		LogmapDerivative1
	)

Definition at line 248 of file testPose2.cpp.

TEST	(	Pose2	,
		LogmapDerivative2
	)

Definition at line 259 of file testPose2.cpp.

TEST	(	Pose2	,
		transformTo
	)

Definition at line 274 of file testPose2.cpp.

TEST	(	Pose2	,
		transformFrom
	)

Definition at line 303 of file testPose2.cpp.

TEST	(	Pose2	,
		compose_a
	)

Definition at line 325 of file testPose2.cpp.

TEST	(	Pose2	,
		compose_b
	)

Definition at line 359 of file testPose2.cpp.

TEST	(	Pose2	,
		compose_c
	)

Definition at line 380 of file testPose2.cpp.

TEST	(	Pose2	,
		inverse
	)

Definition at line 401 of file testPose2.cpp.

TEST	(	Pose2	,
		matrix
	)

Definition at line 439 of file testPose2.cpp.

TEST	(	Pose2	,
		compose_matrix
	)

Definition at line 471 of file testPose2.cpp.

TEST	(	Pose2	,
		between
	)

Definition at line 480 of file testPose2.cpp.

TEST	(	Pose2	,
		between2
	)

Definition at line 521 of file testPose2.cpp.

TEST	(	Pose2	,
		between3
	)

Definition at line 536 of file testPose2.cpp.

TEST	(	Pose2	,
		round_trip
	)

Definition at line 550 of file testPose2.cpp.

TEST	(	Pose2	,
		bearing
	)

Definition at line 570 of file testPose2.cpp.

TEST	(	Pose2	,
		bearing_pose
	)

Definition at line 608 of file testPose2.cpp.

TEST	(	Pose2	,
		range
	)

Definition at line 647 of file testPose2.cpp.

TEST	(	Pose2	,
		range_pose
	)

Definition at line 684 of file testPose2.cpp.

TEST	(	Pose2	,
		align_1
	)

Definition at line 719 of file testPose2.cpp.

TEST	(	Pose2	,
		align_2
	)

Definition at line 731 of file testPose2.cpp.

TEST	(	Pose2	,
		align_3
	)

Definition at line 756 of file testPose2.cpp.

TEST	(	Pose2	,
		align_4
	)

Definition at line 784 of file testPose2.cpp.

TEST	(	Pose2	,
		Invariants
	)

Definition at line 803 of file testPose2.cpp.

TEST	(	Pose2	,
		LieGroupDerivatives
	)

Definition at line 819 of file testPose2.cpp.

TEST	(	Pose2	,
		ChartDerivatives
	)

Definition at line 830 of file testPose2.cpp.

TEST	(	Pose2	,
		TransformCovariance3
	)

Definition at line 842 of file testPose2.cpp.

TEST	(	Pose2	,
		Print
	)

Definition at line 915 of file testPose2.cpp.

static Point2 transformFrom_ ( const Pose2 &  pose, const Point2 &  point  )

static

Definition at line 299 of file testPose2.cpp.

static Point2 transformTo_ ( const Pose2 &  pose, const Point2 &  point  )

static

Definition at line 270 of file testPose2.cpp.

Variable Documentation

Pose2 T1(M_PI/4.0, Point2(sqrt(0.5), sqrt(0.5)))

Pose2 T2(M_PI/2.0, Point2(0.0, 2.0))