testReferenceFrameFactor.cpp File Reference

#include <iostream>
#include <boost/bind.hpp>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/ReferenceFrameFactor.h>

Include dependency graph for testReferenceFrameFactor.cpp:

Go to the source code of this file.

Typedefs
typedef gtsam::ReferenceFrameFactor< gtsam::Point2, gtsam::Pose2 >	PointReferenceFrameFactor
typedef gtsam::ReferenceFrameFactor< gtsam::Pose2, gtsam::Pose2 >	PoseReferenceFrameFactor

Functions
Vector	evaluateError_ (const PointReferenceFrameFactor &c, const Point2 &global, const Pose2 &trans, const Point2 &local)
int	main ()
	TEST (ReferenceFrameFactor, equals)
	TEST (ReferenceFrameFactor, jacobians)
	TEST (ReferenceFrameFactor, jacobians_zero)
	TEST (ReferenceFrameFactor, converge_trans)
	TEST (ReferenceFrameFactor, converge_local)
	TEST (ReferenceFrameFactor, converge_global)

Variables
Key	lA1 = symbol_shorthand::L(1)
Key	lA2 = symbol_shorthand::L(2)
Key	lB1 = symbol_shorthand::L(11)
Key	lB2 = symbol_shorthand::L(12)
Key	tA1 = symbol_shorthand::T(1)
Key	tB1 = symbol_shorthand::T(2)

Typedef Documentation

typedef gtsam::ReferenceFrameFactor<gtsam::Point2, gtsam::Pose2> PointReferenceFrameFactor

Definition at line 37 of file testReferenceFrameFactor.cpp.

typedef gtsam::ReferenceFrameFactor<gtsam::Pose2, gtsam::Pose2> PoseReferenceFrameFactor

Definition at line 38 of file testReferenceFrameFactor.cpp.

Function Documentation

Vector evaluateError_	(	const PointReferenceFrameFactor &	c,
		const Point2 &	global,
		const Pose2 &	trans,
		const Point2 &	local
	)

Definition at line 56 of file testReferenceFrameFactor.cpp.

int main

(

void

)

Definition at line 245 of file testReferenceFrameFactor.cpp.

TEST	(	ReferenceFrameFactor	,
		equals
	)

Definition at line 44 of file testReferenceFrameFactor.cpp.

TEST	(	ReferenceFrameFactor	,
		jacobians
	)

Definition at line 60 of file testReferenceFrameFactor.cpp.

TEST	(	ReferenceFrameFactor	,
		jacobians_zero
	)

Definition at line 87 of file testReferenceFrameFactor.cpp.

TEST	(	ReferenceFrameFactor	,
		converge_trans
	)

Definition at line 119 of file testReferenceFrameFactor.cpp.

TEST	(	ReferenceFrameFactor	,
		converge_local
	)

Definition at line 172 of file testReferenceFrameFactor.cpp.

TEST	(	ReferenceFrameFactor	,
		converge_global
	)

Definition at line 208 of file testReferenceFrameFactor.cpp.

Variable Documentation

Key lA1 = symbol_shorthand::L(1)

Definition at line 40 of file testReferenceFrameFactor.cpp.

Key lA2 = symbol_shorthand::L(2)

Definition at line 40 of file testReferenceFrameFactor.cpp.

Key lB1 = symbol_shorthand::L(11)

Definition at line 40 of file testReferenceFrameFactor.cpp.

Key lB2 = symbol_shorthand::L(12)

Definition at line 40 of file testReferenceFrameFactor.cpp.

Key tA1 = symbol_shorthand::T(1)

Definition at line 41 of file testReferenceFrameFactor.cpp.

Key tB1 = symbol_shorthand::T(2)

Definition at line 41 of file testReferenceFrameFactor.cpp.