testSimilarity3.cpp File Reference

Unit tests for Similarity3 class. More...

#include <gtsam/geometry/Similarity3.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/ExpressionFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/testLie.h>
#include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/function.hpp>
#include <boost/bind.hpp>

Include dependency graph for testSimilarity3.cpp:

Go to the source code of this file.

Functions
int	main ()
static const Point3	P (0.2, 0.7,-2)
	TEST (Similarity3, Concepts)
	TEST (Similarity3, Constructors)
	TEST (Similarity3, Getters)
	TEST (Similarity3, AdjointMap)
	TEST (Similarity3, inverse)
	TEST (Similarity3, Multiplication)
	TEST (Similarity3, Manifold)
	TEST (Similarity3, retract_first_order)
	TEST (Similarity3, localCoordinates_first_order)
	TEST (Similarity3, manifold_first_order)
	TEST (Similarity3, Matrix)
	TEST (Similarity3, ExpLogMap)
	TEST (Similarity3, GroupAction)
	TEST (Similarity3, GroupActionPose3)
	TEST (Similarity3, GroupActionPose3_Compatibility)
	TEST (Similarity3, AlignPoint3_1)
	TEST (Similarity3, AlignPoint3_2)
	TEST (Similarity3, AlignPoint3_3)
	TEST (Similarity3, AlignPose3)
	TEST (Similarity3, Optimization)
	TEST (Similarity3, Optimization2)
	TEST (Similarity3, AlignScaledPointClouds)
	TEST (Similarity3, Invariants)
	TEST (Similarity3, LieGroupDerivatives)

Variables
const double	degree = M_PI / 180
static const Similarity3	id
static const Rot3	R = Rot3::Rodrigues(0.3, 0, 0)
static const double	s = 4
static const Similarity3	T1 (R, Point3(3.5,-8.2, 4.2), 1)
static const Similarity3	T2 (Rot3::Rodrigues(0.3, 0.2, 0.1), Point3(3.5,-8.2, 4.2), 1)
static const Similarity3	T3 (Rot3::Rodrigues(-90, 0, 0), Point3(1, 2, 3), 1)
static const Similarity3	T4 (R, P, s)
static const Similarity3	T5 (R, P, 10)
static const Similarity3	T6 (Rot3(), Point3(1, 1, 0), 2)

Detailed Description

Unit tests for Similarity3 class.

Author

Paul Drews

Zhaoyang Lv

Definition in file testSimilarity3.cpp.

Function Documentation

int main

(

void

)

Definition at line 531 of file testSimilarity3.cpp.

static const Point3 P ( 0.  2, 0.  7, -  2  )

static

TEST	(	Similarity3	,
		Concepts
	)

Definition at line 57 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		Constructors
	)

Definition at line 64 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		Getters
	)

Definition at line 72 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		AdjointMap
	)

Definition at line 85 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		inverse
	)

Definition at line 96 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		Multiplication
	)

Definition at line 112 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		Manifold
	)

Definition at line 123 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		retract_first_order
	)

Definition at line 158 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		localCoordinates_first_order
	)

Definition at line 170 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		manifold_first_order
	)

Definition at line 178 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		Matrix
	)

Definition at line 190 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		ExpLogMap
	)

Definition at line 199 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		GroupAction
	)

Definition at line 221 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		GroupActionPose3
	)

Definition at line 266 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		GroupActionPose3_Compatibility
	)

Definition at line 287 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		AlignPoint3_1
	)

Definition at line 309 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		AlignPoint3_2
	)

Definition at line 324 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		AlignPoint3_3
	)

Definition at line 339 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		AlignPose3
	)

Definition at line 356 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		Optimization
	)

Definition at line 384 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		Optimization2
	)

Definition at line 410 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		AlignScaledPointClouds
	)

Definition at line 480 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		Invariants
	)

Definition at line 506 of file testSimilarity3.cpp.

TEST	(	Similarity3	,
		LieGroupDerivatives
	)

Definition at line 521 of file testSimilarity3.cpp.

Variable Documentation

const double degree = M_PI / 180

Definition at line 54 of file testSimilarity3.cpp.

const Similarity3 id

static

Definition at line 45 of file testSimilarity3.cpp.

const Rot3 R = Rot3::Rodrigues(0.3, 0, 0)

static

Definition at line 43 of file testSimilarity3.cpp.

const double s = 4

static

Definition at line 44 of file testSimilarity3.cpp.

const Similarity3 T1(R, Point3(3.5,-8.2, 4.2), 1)

static

const Similarity3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), Point3(3.5,-8.2, 4.2), 1)

static

const Similarity3 T3(Rot3::Rodrigues(-90, 0, 0), Point3(1, 2, 3), 1)

static

const Similarity3 T4(R, P, s)

static

const Similarity3 T5(R, P, 10)

static

const Similarity3 T6(Rot3(), Point3(1, 1, 0), 2)

static