testTOAFactor.cpp File Reference

Unit tests for "Time of Arrival" factor. More...

#include <gtsam/base/numericalDerivative.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam_unstable/geometry/Event.h>
#include <gtsam_unstable/slam/TOAFactor.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/bind.hpp>
#include <boost/format.hpp>

Include dependency graph for testTOAFactor.cpp:

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Typedefs
typedef Expression< Event >	Event_
typedef Expression< Point3 >	Point3_

Functions
int	main ()
static SharedNoiseModel	model (noiseModel::Isotropic::Sigma(1, 0.5 *ms))
static const Point3	sensorAt0 (0, 0, 0)
	TEST (TOAFactor, NewWay)
	TEST (TOAFactor, WholeEnchilada)

Variables
static const double	cm = 1e-2
static const Event	exampleEvent (timeOfEvent, 1, 0, 0)
static const double	ms = 1e-3
static const double	timeOfEvent = 25

Detailed Description

Unit tests for "Time of Arrival" factor.

Author

Frank Dellaert

Jay Chakravarty

Date

December 2014

Definition in file testTOAFactor.cpp.

Typedef Documentation

typedef Expression<Event> Event_

Definition at line 36 of file testTOAFactor.cpp.

typedef Expression<Point3> Point3_

Definition at line 35 of file testTOAFactor.cpp.

Function Documentation

int main

(

void

)

Definition at line 104 of file testTOAFactor.cpp.

static SharedNoiseModel model ( noiseModel::Isotropic::Sigma(1, 0.5 *ms)  )

static

static const Point3 sensorAt0 ( 0  , 0  , 0    )

static

TEST	(	TOAFactor	,
		NewWay
	)

Definition at line 50 of file testTOAFactor.cpp.

TEST	(	TOAFactor	,
		WholeEnchilada
	)

Definition at line 57 of file testTOAFactor.cpp.

Variable Documentation

const double cm = 1e-2

static

Definition at line 40 of file testTOAFactor.cpp.

const Event exampleEvent(timeOfEvent, 1, 0, 0)

static

const double ms = 1e-3

static

Definition at line 39 of file testTOAFactor.cpp.

const double timeOfEvent = 25

static

Definition at line 45 of file testTOAFactor.cpp.