testQuaternion.cpp File Reference

Unit tests for Quaternion, as a GTSAM-adapted Lie Group. More...

#include <gtsam/geometry/Quaternion.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/testLie.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testQuaternion.cpp:

Go to the source code of this file.

Typedefs
typedef Quaternion	Q
typedef traits< Q >::ChartJacobian	QuaternionJacobian

Functions
int	main ()
Vector3	Q_z_axis (0, 0, 1)
	TEST (Quaternion, Concept)
	TEST (Quaternion, Constructor)
	TEST (Quaternion, Logmap)
	TEST (Quaternion, Local)
	TEST (Quaternion, Retract)
	TEST (Quaternion, Compose)
	TEST (Quaternion, Between)
	TEST (Quaternion, Inverse)
	TEST (Quaternion, Invariants)
	TEST (Quaternion, LieGroupDerivatives)
	TEST (Quaternion, ChartDerivatives)

Variables
Q	id (Eigen::AngleAxisd(0, Q_z_axis))
Q	R1 (Eigen::AngleAxisd(1, Q_z_axis))
Q	R2 (Eigen::AngleAxisd(2, Vector3(0, 1, 0)))

Detailed Description

Unit tests for Quaternion, as a GTSAM-adapted Lie Group.

Author

Frank Dellaert

Definition in file testQuaternion.cpp.

Typedef Documentation

typedef Quaternion Q

Definition at line 27 of file testQuaternion.cpp.

typedef traits<Q>::ChartJacobian QuaternionJacobian

Definition at line 28 of file testQuaternion.cpp.

Function Documentation

int main

(

void

)

Definition at line 140 of file testQuaternion.cpp.

Vector3 Q_z_axis	(	0	,
		0	,
		1
	)

TEST	(	Quaternion	,
		Concept
	)

Definition at line 31 of file testQuaternion.cpp.

TEST	(	Quaternion	,
		Constructor
	)

Definition at line 38 of file testQuaternion.cpp.

TEST	(	Quaternion	,
		Logmap
	)

Definition at line 43 of file testQuaternion.cpp.

TEST	(	Quaternion	,
		Local
	)

Definition at line 51 of file testQuaternion.cpp.

TEST	(	Quaternion	,
		Retract
	)

Definition at line 62 of file testQuaternion.cpp.

TEST	(	Quaternion	,
		Compose
	)

Definition at line 73 of file testQuaternion.cpp.

TEST	(	Quaternion	,
		Between
	)

Definition at line 90 of file testQuaternion.cpp.

TEST	(	Quaternion	,
		Inverse
	)

Definition at line 101 of file testQuaternion.cpp.

TEST	(	Quaternion	,
		Invariants
	)

Definition at line 111 of file testQuaternion.cpp.

TEST	(	Quaternion	,
		LieGroupDerivatives
	)

Definition at line 124 of file testQuaternion.cpp.

TEST	(	Quaternion	,
		ChartDerivatives
	)

Definition at line 132 of file testQuaternion.cpp.

Variable Documentation

Q id(Eigen::AngleAxisd(0, Q_z_axis))

Q R1(Eigen::AngleAxisd(1, Q_z_axis))

Q R2(Eigen::AngleAxisd(2, Vector3(0, 1, 0)))