testTangentPreintegration.cpp File Reference

Unit test for the InertialNavFactor. More...

#include <gtsam/navigation/TangentPreintegration.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/bind.hpp>
#include "imuFactorTesting.h"

Include dependency graph for testTangentPreintegration.cpp:

Go to the source code of this file.

Namespaces
	testing

Functions
Vector9	f (const Vector9 &zeta, const Vector3 &a, const Vector3 &w)
int	main ()
static boost::shared_ptr< PreintegrationParams >	testing::Params ()
	TEST (TangentPreintegration, UpdateEstimate1)
	TEST (TangentPreintegration, UpdateEstimate2)
	TEST (ImuFactor, BiasCorrectionJacobians)
	TEST (TangentPreintegration, computeError)
	TEST (TangentPreintegration, Compose)
	TEST (TangentPreintegration, MergedBiasDerivatives)

Variables
static const double	kDt = 0.1

Detailed Description

Unit test for the InertialNavFactor.

Author

Frank Dellaert

Definition in file testTangentPreintegration.cpp.

Function Documentation

Vector9 f	(	const Vector9 &	zeta,
		const Vector3 &	a,
		const Vector3 &	w
	)

Definition at line 31 of file testTangentPreintegration.cpp.

int main

(

void

)

Definition at line 168 of file testTangentPreintegration.cpp.

TEST	(	TangentPreintegration	,
		UpdateEstimate1
	)

Definition at line 47 of file testTangentPreintegration.cpp.

TEST	(	TangentPreintegration	,
		UpdateEstimate2
	)

Definition at line 61 of file testTangentPreintegration.cpp.

TEST	(	ImuFactor	,
		BiasCorrectionJacobians
	)

Definition at line 76 of file testTangentPreintegration.cpp.

TEST	(	TangentPreintegration	,
		computeError
	)

Definition at line 99 of file testTangentPreintegration.cpp.

TEST	(	TangentPreintegration	,
		Compose
	)

Definition at line 117 of file testTangentPreintegration.cpp.

TEST	(	TangentPreintegration	,
		MergedBiasDerivatives
	)

Definition at line 146 of file testTangentPreintegration.cpp.

Variable Documentation

const double kDt = 0.1

static

Definition at line 29 of file testTangentPreintegration.cpp.