#include <CppUnitLite/TestHarness.h>#include <gtsam/base/Testable.h>#include <gtsam/base/numericalDerivative.h>#include <gtsam/geometry/Pose2.h>#include <gtsam/navigation/InvariantEKF.h>#include <iostream>
Include dependency graph for testInvariantEKF.cpp:
Go to the source code of this file.
Namespaces | |
| exampleDynamicMatrix | |
Functions | |
| Matrix | exampleDynamicMatrix::f (const Matrix &p, const Vector &vTangent, double dt) |
| double | exampleDynamicMatrix::h (const Matrix &p, OptionalJacobian<-1, -1 > H={}) |
| Vector2 | h_gps (const Pose2 &X, OptionalJacobian< 2, 3 > H={}) |
| int | main () |
| TEST (IEKF_Pose2, PredictUpdateSequence) | |
| TEST (InvariantEKF_DynamicMatrix, PredictAndUpdate) | |
Function Documentation
◆ h_gps()
| Vector2 h_gps | ( | const Pose2 & | X, |
| OptionalJacobian< 2, 3 > | H = {} |
||
| ) |
Definition at line 32 of file testInvariantEKF.cpp.
◆ main()
| int main | ( | ) |
Definition at line 184 of file testInvariantEKF.cpp.
◆ TEST() [1/2]
| TEST | ( | IEKF_Pose2 | , |
| PredictUpdateSequence | |||
| ) |
Definition at line 37 of file testInvariantEKF.cpp.
◆ TEST() [2/2]
| TEST | ( | InvariantEKF_DynamicMatrix | , |
| PredictAndUpdate | |||
| ) |
Definition at line 136 of file testInvariantEKF.cpp.