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>

Include dependency graph for testTranslationFactor.cpp:

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Functions
Vector	bilinearAngleFactorError (const Point3 &T1, const Point3 &T2, const Vector1 &scale, const BilinearAngleTranslationFactor &factor)
Vector	factorError (const Point3 &T1, const Point3 &T2, const TranslationFactor &factor)
static const Key	kEdgeKey (3)
static const Key	kKey1 (2)
static const Key	kKey2 (1)
int	main ()
static SharedNoiseModel	model (noiseModel::Isotropic::Sigma(3, 0.05))
	TEST (BilinearAngleTranslationFactor, Constructor)
	TEST (BilinearAngleTranslationFactor, Jacobian)
	TEST (BilinearAngleTranslationFactor, NonZeroError)
	TEST (BilinearAngleTranslationFactor, ZeroError)
	TEST (TranslationFactor, Constructor)
	TEST (TranslationFactor, Jacobian)
	TEST (TranslationFactor, NonZeroError)
	TEST (TranslationFactor, ZeroError)

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

bilinearAngleFactorError()

Vector bilinearAngleFactorError	(	const Point3 &	T1,
		const Point3 &	T2,
		const Vector1 &	scale,
		const BilinearAngleTranslationFactor &	factor
	)

Definition at line 143 of file testTranslationFactor.cpp.

factorError()

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

Definition at line 74 of file testTranslationFactor.cpp.

kEdgeKey()

static const Key kEdgeKey

(

3

)

kKey1()

static const Key kKey1 ( 2  )

static

kKey2()

static const Key kKey2

(

1

)

main()

int main

(

)

Definition at line 176 of file testTranslationFactor.cpp.

model()

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

static

TEST() [1/8]

TEST	(	BilinearAngleTranslationFactor	,
		Constructor
	)

Definition at line 104 of file testTranslationFactor.cpp.

TEST() [2/8]

TEST	(	BilinearAngleTranslationFactor	,
		Jacobian
	)

Definition at line 148 of file testTranslationFactor.cpp.

TEST() [3/8]

TEST	(	BilinearAngleTranslationFactor	,
		NonZeroError
	)

Definition at line 126 of file testTranslationFactor.cpp.

TEST() [4/8]

TEST	(	BilinearAngleTranslationFactor	,
		ZeroError
	)

Definition at line 109 of file testTranslationFactor.cpp.

TEST() [5/8]

TEST	(	TranslationFactor	,
		Constructor
	)

Definition at line 37 of file testTranslationFactor.cpp.

TEST() [6/8]

TEST	(	TranslationFactor	,
		Jacobian
	)

Definition at line 79 of file testTranslationFactor.cpp.

TEST() [7/8]

TEST	(	TranslationFactor	,
		NonZeroError
	)

Definition at line 58 of file testTranslationFactor.cpp.

TEST() [8/8]

TEST	(	TranslationFactor	,
		ZeroError
	)

Definition at line 42 of file testTranslationFactor.cpp.

Variable Documentation

kMeasured

const Unit3 kMeasured(1, 0, 0)

static