testTranslationFactor.cpp File Reference

Unit tests for TranslationFactor Class. More...

#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/sfm/TranslationFactor.h>
#include <CppUnitLite/TestHarness.h>

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Functions
Vector	factorError (const Point3 &T1, const Point3 &T2, const TranslationFactor &factor)
static const Key	kKey1 (2)
static const Key	kKey2 (1)
int	main ()
static SharedNoiseModel	model (noiseModel::Isotropic::Sigma(3, 0.05))
	TEST (TranslationFactor, Constructor)
	TEST (TranslationFactor, ZeroError)
	TEST (TranslationFactor, NonZeroError)
	TEST (TranslationFactor, Jacobian)

Variables
static const Unit3	kMeasured (1, 0, 0)

Detailed Description

Unit tests for TranslationFactor Class.

Author

Frank dellaert

Date

March 2020

Definition in file testTranslationFactor.cpp.

Function Documentation

Vector factorError	(	const Point3 &	T1,
		const Point3 &	T2,
		const TranslationFactor &	factor
	)

Definition at line 73 of file testTranslationFactor.cpp.

static const Key kKey1 ( 2  )

static

static const Key kKey2

(

1

)

int main

(

void

)

Definition at line 102 of file testTranslationFactor.cpp.

static SharedNoiseModel model ( noiseModel::Isotropic::Sigma(3, 0.05)  )

static

TEST	(	TranslationFactor	,
		Constructor
	)

Definition at line 36 of file testTranslationFactor.cpp.

TEST	(	TranslationFactor	,
		ZeroError
	)

Definition at line 41 of file testTranslationFactor.cpp.

TEST	(	TranslationFactor	,
		NonZeroError
	)

Definition at line 57 of file testTranslationFactor.cpp.

TEST	(	TranslationFactor	,
		Jacobian
	)

Definition at line 78 of file testTranslationFactor.cpp.

Variable Documentation

const Unit3 kMeasured(1, 0, 0)

static