testUnit3.cpp File Reference

#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/serializationTestHelpers.h>
#include <gtsam/geometry/Unit3.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/bind.hpp>
#include <boost/assign/std/vector.hpp>
#include <cmath>
#include <random>

Include dependency graph for testUnit3.cpp:

Go to the source code of this file.

Functions
Vector6	BasisTest (const Unit3 &p, OptionalJacobian< 6, 2 > H)
int	main ()
Point3	point3_ (const Unit3 &p)
static Unit3	rotate_ (const Rot3 &R, const Unit3 &p)
	TEST (Unit3, point3)
	TEST (Unit3, rotate)
	TEST (Unit3, unrotate)
	TEST (Unit3, dot)
	TEST (Unit3, error)
	TEST (Unit3, error2)
	TEST (Unit3, distance)
	TEST (Unit3, localCoordinates0)
	TEST (Unit3, localCoordinates)
	TEST (Unit3, basis)
	TEST (Unit3, basis_derivatives)
	Check the basis derivatives of a bunch of random Unit3s. More...
	TEST (Unit3, retract)
	TEST (Unit3, jacobian_retract)
	TEST (Unit3, retract_expmap)
	TEST (Unit3, Random)
	TEST (Unit3, localCoordinates_retract)
	TEST (Unit3, FromPoint3)
	TEST (Unit3, ErrorBetweenFactor)
	TEST (Unit3, CopyAssign)
	TEST (actualH, Serialization)
static Unit3	unrotate_ (const Rot3 &R, const Unit3 &p)

Function Documentation

Vector6 BasisTest	(	const Unit3 &	p,
		OptionalJacobian< 6, 2 >	H
	)

Definition at line 306 of file testUnit3.cpp.

int main

(

void

)

Definition at line 506 of file testUnit3.cpp.

Point3 point3_

(

const Unit3 &

p

)

Definition at line 49 of file testUnit3.cpp.

static Unit3 rotate_ ( const Rot3 &  R, const Unit3 &  p  )

static

Definition at line 67 of file testUnit3.cpp.

TEST	(	Unit3	,
		point3
	)

Definition at line 53 of file testUnit3.cpp.

TEST	(	Unit3	,
		rotate
	)

Definition at line 71 of file testUnit3.cpp.

TEST	(	Unit3	,
		unrotate
	)

Definition at line 96 of file testUnit3.cpp.

TEST	(	Unit3	,
		dot
	)

Definition at line 117 of file testUnit3.cpp.

TEST	(	Unit3	,
		error
	)

Definition at line 149 of file testUnit3.cpp.

TEST	(	Unit3	,
		error2
	)

Definition at line 173 of file testUnit3.cpp.

TEST	(	Unit3	,
		distance
	)

Definition at line 212 of file testUnit3.cpp.

TEST	(	Unit3	,
		localCoordinates0
	)

Definition at line 236 of file testUnit3.cpp.

TEST	(	Unit3	,
		localCoordinates
	)

Definition at line 242 of file testUnit3.cpp.

TEST	(	Unit3	,
		basis
	)

Definition at line 313 of file testUnit3.cpp.

TEST	(	Unit3	,
		basis_derivatives
	)

Check the basis derivatives of a bunch of random Unit3s.

Definition at line 340 of file testUnit3.cpp.

TEST	(	Unit3	,
		retract
	)

Definition at line 356 of file testUnit3.cpp.

TEST	(	Unit3	,
		jacobian_retract
	)

Definition at line 375 of file testUnit3.cpp.

TEST	(	Unit3	,
		retract_expmap
	)

Definition at line 395 of file testUnit3.cpp.

TEST	(	Unit3	,
		Random
	)

Definition at line 405 of file testUnit3.cpp.

TEST	(	Unit3	,
		localCoordinates_retract
	)

Definition at line 417 of file testUnit3.cpp.

TEST	(	Unit3	,
		FromPoint3
	)

Definition at line 436 of file testUnit3.cpp.

TEST	(	Unit3	,
		ErrorBetweenFactor
	)

Definition at line 447 of file testUnit3.cpp.

TEST	(	Unit3	,
		CopyAssign
	)

Definition at line 487 of file testUnit3.cpp.

TEST	(	actualH	,
		Serialization
	)

Definition at line 497 of file testUnit3.cpp.

static Unit3 unrotate_ ( const Rot3 &  R, const Unit3 &  p  )

static

Definition at line 92 of file testUnit3.cpp.