#include <CppUnitLite/TestHarness.h>
#include <gtsam_unstable/slam/RelativeElevationFactor.h>
#include <gtsam/base/numericalDerivative.h>

Include dependency graph for testRelativeElevationFactor.cpp:

Functions
Vector	evalFactorError (const RelativeElevationFactor &factor, const Pose3 &x, const Point3 &p)

int	main ()

const Point3	point1 (3.0, 4.0, 2.0)

	TEST (testRelativeElevationFactor, level_zero_error)

	TEST (testRelativeElevationFactor, level_positive)

	TEST (testRelativeElevationFactor, level_negative)

	TEST (testRelativeElevationFactor, rotated_zero_error)

	TEST (testRelativeElevationFactor, rotated_positive)

	TEST (testRelativeElevationFactor, rotated_negative1)

	TEST (testRelativeElevationFactor, rotated_negative2)

Variables
SharedNoiseModel	model1 = noiseModel::Unit::Create(1)

const gtsam::Key	pointKey = 2

const Pose3	pose1 (Rot3(), Point3(2.0, 3.0, 4.0))

const Pose3	pose2 (Rot3::Pitch(-M_PI_2), Point3(2.0, 3.0, 4.0))

const Pose3	pose3 (Rot3::RzRyRx(0.1, 0.2, 0.3), Point3(2.0, 3.0, 4.0))

const gtsam::Key	poseKey = 1

const double	tol = 1e-5

Detailed Description

Function Documentation

Vector evalFactorError	(	const RelativeElevationFactor &	factor,
		const Pose3 &	x,
		const Point3 &	p
	)

int main ( void )

TEST	(	testRelativeElevationFactor	,
		level_zero_error
	)

TEST	(	testRelativeElevationFactor	,
		level_positive
	)

TEST	(	testRelativeElevationFactor	,
		level_negative
	)

TEST	(	testRelativeElevationFactor	,
		rotated_zero_error
	)

TEST	(	testRelativeElevationFactor	,
		rotated_positive
	)

TEST	(	testRelativeElevationFactor	,
		rotated_negative1
	)

TEST	(	testRelativeElevationFactor	,
		rotated_negative2
	)

SharedNoiseModel model1 = noiseModel::Unit::Create(1)

const gtsam::Key pointKey = 2

const Pose3 pose1(Rot3(), Point3(2.0, 3.0, 4.0))

const Pose3 pose2(Rot3::Pitch(-M_PI_2), Point3(2.0, 3.0, 4.0))

const Pose3 pose3(Rot3::RzRyRx(0.1, 0.2, 0.3), Point3(2.0, 3.0, 4.0))

const gtsam::Key poseKey = 1

const double tol = 1e-5