testFrobeniusFactor.cpp File Reference

Check evaluateError for various Frobenius norm. More...

#include <gtsam/base/lieProxies.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/SO3.h>
#include <gtsam/geometry/SO4.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/slam/FrobeniusFactor.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testFrobeniusFactor.cpp:

Go to the source code of this file.

Namespaces
	pose2
	pose3
	so3
	so4

Functions
int	main ()
	TEST (FrobeniusBetweenFactorPose2, evaluateError)
	TEST (FrobeniusBetweenFactorPose3, evaluateError)
	TEST (FrobeniusBetweenFactorSO3, evaluateError)
	TEST (FrobeniusBetweenFactorSO4, evaluateError)
	TEST (FrobeniusFactorPose2, evaluateError)
	TEST (FrobeniusFactorPose3, evaluateError)
	TEST (FrobeniusFactorSO3, evaluateError)
	TEST (FrobeniusFactorSO4, evaluateError)
	TEST (FrobeniusPriorSO3, ChordalL2mean)
	TEST (FrobeniusPriorSO3, ClosestTo)
	TEST (FrobeniusPriorSO3, evaluateError)

Variables
SO4	so4::id
Pose2	pose2::id
Pose3	pose3::id
Pose2	pose2::P1 = Pose2(0.1, 0.2, 0.3)
Pose3	pose3::P1 = Pose3(Rot3::Expmap(Vector3(0.1, 0.2, 0.3)), Vector3(0.4, 0.5, 0.6))
Pose2	pose2::P2 = Pose2(0.4, 0.5, 0.6)
Pose3	pose3::P2 = Pose3(Rot3::Expmap(Vector3(0.2, 0.3, 0.4)), Vector3(0.7, 0.8, 0.9))
SO4	so4::Q1 = SO4::Expmap(v1)
SO4	so4::Q2 = SO4::Expmap(v2)
Vector6	so4::v1 = (Vector(6) << 0.1, 0, 0, 0, 0, 0).finished()
Vector6	so4::v2 = (Vector(6) << 0.01, 0.02, 0.03, 0.04, 0.05, 0.06).finished()

Detailed Description

Check evaluateError for various Frobenius norm.

Check evaluateError for various Frobenius norms.

testFrobeniusFactor.cpp

Date

March 2019

Author

Frank Dellaert

Definition in file testFrobeniusFactor.cpp.

Function Documentation

main()

int main

(

)

Definition at line 266 of file testFrobeniusFactor.cpp.

TEST() [1/11]

TEST	(	FrobeniusBetweenFactorPose2	,
		evaluateError
	)

Definition at line 214 of file testFrobeniusFactor.cpp.

TEST() [2/11]

TEST	(	FrobeniusBetweenFactorPose3	,
		evaluateError
	)

Definition at line 250 of file testFrobeniusFactor.cpp.

TEST() [3/11]

TEST	(	FrobeniusBetweenFactorSO3	,
		evaluateError
	)

Definition at line 139 of file testFrobeniusFactor.cpp.

TEST() [4/11]

TEST	(	FrobeniusBetweenFactorSO4	,
		evaluateError
	)

Definition at line 176 of file testFrobeniusFactor.cpp.

TEST() [5/11]

TEST	(	FrobeniusFactorPose2	,
		evaluateError
	)

Definition at line 200 of file testFrobeniusFactor.cpp.

TEST() [6/11]

TEST	(	FrobeniusFactorPose3	,
		evaluateError
	)

Definition at line 236 of file testFrobeniusFactor.cpp.

TEST() [7/11]

TEST	(	FrobeniusFactorSO3	,
		evaluateError
	)

Definition at line 108 of file testFrobeniusFactor.cpp.

TEST() [8/11]

TEST	(	FrobeniusFactorSO4	,
		evaluateError
	)

Definition at line 162 of file testFrobeniusFactor.cpp.

TEST() [9/11]

TEST	(	FrobeniusPriorSO3	,
		ChordalL2mean
	)

Definition at line 82 of file testFrobeniusFactor.cpp.

TEST() [10/11]

TEST	(	FrobeniusPriorSO3	,
		ClosestTo
	)

Definition at line 61 of file testFrobeniusFactor.cpp.

TEST() [11/11]

TEST	(	FrobeniusPriorSO3	,
		evaluateError
	)

Definition at line 48 of file testFrobeniusFactor.cpp.