test-pose.cpp File Reference

#include <easylogging++.h>
#include "../catch.h"
#include "../approx.h"
#include <types.h>
#include "rot.h"

Include dependency graph for test-pose.cpp:

Go to the source code of this file.

Macros
#define	CATCH_CONFIG_MAIN

Functions
	CHECK (m(1, 0)==2)
	CHECK (inverse(inverse(p))==p)
	CHECK (eq(inverse(inverse(extr)), extr))
	CHECK_FALSE (inverse(inverse(p))==p)
float	determinant (float3x3 const &r)
float	dot (float3 const &a, float3 const &b)
bool	eq (float3 const &a, float3 const &b)
bool	eq (float3x3 const &a, float3x3 const &b)
bool	eq (pose const &a, pose const &b)
bool	eq (rs2_extrinsics const &a, rs2_extrinsics const &b)
	INFO (m)
	INFO ("(0,0) "<< m(0, 0)<< " (0,1) "<< m(0, 1)<< " (0,2) "<< m(0, 2))
	INFO ("(1,0) "<< m(1, 0)<< " (1,1) "<< m(1, 1)<< " (1,2) "<< m(1, 2))
	INFO ("(2,0) "<< m(2, 0)<< " (2,1) "<< m(2, 1)<< " (2,2) "<< m(2, 2))
	INFO ("\np=\n"<< std::setprecision(15)<< p)
pose	inv (pose const &p)
pose	inv2 (pose const &p)
float3	mult (const float3x3 &a, const float3 &b)
	TEST_CASE ("pose vs extrinsics","[types]")
	TEST_CASE ("m*v","[types]")
	TEST_CASE ("rotation matrix","[types]")
	TEST_CASE ("inverse != inv","[types]")

Variables
rs2_extrinsics	extr = from_pose( { rot, tran } )
pose	p = to_pose( extr )
float3	tran = { -0.100967f, 13.899586f, -4.260724f }
float3	v = { 1, -2, 3 }

Macro Definition Documentation

#define CATCH_CONFIG_MAIN

Definition at line 13 of file test-pose.cpp.

Function Documentation

CHECK

(

m(1, 0)

= =2

)

CHECK

(

inverse(inverse(p))

= =p

)

CHECK

(

eq(inverse(inverse(extr)), extr)

)

CHECK_FALSE

(

inverse(inverse(p))

= =p

)

float determinant

(

float3x3 const &

r

)

Definition at line 116 of file test-pose.cpp.

float dot	(	float3 const &	a,
		float3 const &	b
	)

Definition at line 74 of file test-pose.cpp.

bool eq ( float3 const &  a, float3 const &  b  )

inline

Definition at line 57 of file test-pose.cpp.

bool eq ( float3x3 const &  a, float3x3 const &  b  )

inline

Definition at line 61 of file test-pose.cpp.

bool eq ( pose const &  a, pose const &  b  )

inline

Definition at line 65 of file test-pose.cpp.

bool eq ( rs2_extrinsics const &  a, rs2_extrinsics const &  b  )

inline

Definition at line 69 of file test-pose.cpp.

INFO

(

m

)

INFO

(

"

0,0) "<< m(0, 0)<< " (0,1) "<< m(0, 1)<< " (0,2) "<< m(0, 2

)

INFO

(

"

1,0) "<< m(1, 0)<< " (1,1) "<< m(1, 1)<< " (1,2) "<< m(1, 2

)

INFO

(

"

2,0) "<< m(2, 0)<< " (2,1) "<< m(2, 1)<< " (2,2) "<< m(2, 2

)

INFO

(

)

pose inv

(

pose const &

p

)

Definition at line 178 of file test-pose.cpp.

pose inv2

(

pose const &

p

)

Definition at line 204 of file test-pose.cpp.

float3 mult	(	const float3x3 &	a,
		const float3 &	b
	)

Definition at line 78 of file test-pose.cpp.

TEST_CASE	(	"pose vs extrinsics"	,
		""	[types]
	)

Definition at line 26 of file test-pose.cpp.

TEST_CASE	(	"m*v"	,
		""	[types]
	)

Definition at line 86 of file test-pose.cpp.

TEST_CASE	(	"rotation matrix"	,
		""	[types]
	)

Definition at line 127 of file test-pose.cpp.

TEST_CASE

(

)

Definition at line 186 of file test-pose.cpp.

Variable Documentation

rs2_extrinsics extr = from_pose( { rot, tran } )

Definition at line 258 of file test-pose.cpp.

pose p = to_pose( extr )

Definition at line 231 of file test-pose.cpp.

float3 tran = { -0.100967f, 13.899586f, -4.260724f }

Definition at line 238 of file test-pose.cpp.

float3 v = { 1, -2, 3 }

Definition at line 105 of file test-pose.cpp.