testHybridGaussianFactor.cpp File Reference

Unit tests for HybridGaussianFactor. More...

#include <gtsam/base/Testable.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/discrete/DiscreteConditional.h>
#include <gtsam/discrete/DiscreteValues.h>
#include <gtsam/hybrid/HybridBayesNet.h>
#include <gtsam/hybrid/HybridGaussianConditional.h>
#include <gtsam/hybrid/HybridGaussianFactor.h>
#include <gtsam/hybrid/HybridGaussianFactorGraph.h>
#include <gtsam/hybrid/HybridValues.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/VectorValues.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <CppUnitLite/TestHarness.h>
#include <memory>

Include dependency graph for testHybridGaussianFactor.cpp:

Go to the source code of this file.

Namespaces
	test_constructor
	test_direct_factor_graph

Functions
static HybridGaussianFactorGraph	test_direct_factor_graph::CreateFactorGraph (const gtsam::Values &values, const std::vector< double > &means, const std::vector< double > &sigmas, DiscreteKey &m1, double measurement_noise=1e-3)
	Create a Factor Graph by directly specifying all the factors instead of creating conditionals first. This way we can directly provide the likelihoods and then perform linearization. More...
DiscreteKey	test_constructor::m1 (1, 2)
int	main ()
	TEST (HybridGaussianFactor, Constructor)
	TEST (HybridGaussianFactor, ConstructorVariants)
	TEST (HybridGaussianFactor, DifferentCovariancesFG)
	Test components with differing covariances but the same means. The factor graph is -X1--X2 | M1. More...
	TEST (HybridGaussianFactor, DifferentMeansFG)
	Test components with differing means but the same covariances. The factor graph is -X1--X2 | M1. More...
	TEST (HybridGaussianFactor, Error)
	TEST (HybridGaussianFactor, HybridGaussianConditional)
	TEST (HybridGaussianFactor, Printing)
	TEST (HybridGaussianFactor, Sum)

Variables
auto	test_constructor::A1 = Matrix::Zero(2, 1)
auto	test_constructor::A2 = Matrix::Zero(2, 2)
auto	test_constructor::b = Matrix::Zero(2, 1)
auto	test_constructor::f10 = std::make_shared<JacobianFactor>(X(1), A1, X(2), A2, b)
auto	test_constructor::f11 = std::make_shared<JacobianFactor>(X(1), A1, X(2), A2, b)

Detailed Description

Unit tests for HybridGaussianFactor.

Author

Varun Agrawal

Fan Jiang

Frank Dellaert

Date

December 2021

Definition in file testHybridGaussianFactor.cpp.

Function Documentation

main()

int main

(

)

Definition at line 349 of file testHybridGaussianFactor.cpp.

TEST() [1/8]

TEST	(	HybridGaussianFactor	,
		Constructor
	)

Definition at line 49 of file testHybridGaussianFactor.cpp.

TEST() [2/8]

TEST	(	HybridGaussianFactor	,
		ConstructorVariants
	)

Definition at line 71 of file testHybridGaussianFactor.cpp.

TEST() [3/8]

TEST	(	HybridGaussianFactor	,
		DifferentCovariancesFG
	)

Test components with differing covariances but the same means. The factor graph is -X1--X2 | M1.

Definition at line 312 of file testHybridGaussianFactor.cpp.

TEST() [4/8]

TEST	(	HybridGaussianFactor	,
		DifferentMeansFG
	)

Test components with differing means but the same covariances. The factor graph is -X1--X2 | M1.

Definition at line 237 of file testHybridGaussianFactor.cpp.

TEST() [5/8]

TEST	(	HybridGaussianFactor	,
		Error
	)

Definition at line 146 of file testHybridGaussianFactor.cpp.

TEST() [6/8]

TEST	(	HybridGaussianFactor	,
		HybridGaussianConditional
	)

Definition at line 132 of file testHybridGaussianFactor.cpp.

TEST() [7/8]

TEST	(	HybridGaussianFactor	,
		Printing
	)

Definition at line 122 of file testHybridGaussianFactor.cpp.

TEST() [8/8]

TEST	(	HybridGaussianFactor	,
		Sum
	)

Definition at line 86 of file testHybridGaussianFactor.cpp.