testLie.cpp File Reference

unit tests for Lie group type machinery More...

#include <gtsam/base/ProductLieGroup.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/base/testLie.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testLie.cpp:

Go to the source code of this file.

Classes
struct	gtsam::traits< Product >

Namespaces
	gtsam
	traits

Typedefs
typedef ProductLieGroup< Point2, Pose2 >	Product

Functions
Product	between_proxy (const Product &A, const Product &B)
Product	compose_proxy (const Product &A, const Product &B)
Product	expmap_proxy (const Vector5 &vec)
Product	interpolate_proxy (const Product &x, const Product &y, double t)
Product	inverse_proxy (const Product &A)
Vector5	logmap_proxy (const Product &p)
int	main ()
	TEST (Lie, Interpolate)
	TEST (Lie, ProductLieGroup)
	TEST (testProduct, between)
	TEST (testProduct, compose)
	TEST (testProduct, Expmap)
	TEST (testProduct, inverse)
	TEST (testProduct, Logmap)

Variables
static const double	tol = 1e-9

Detailed Description

unit tests for Lie group type machinery

Date

May, 2015

Author

Frank Dellaert

Definition in file testLie.cpp.

Typedef Documentation

Product

typedef ProductLieGroup<Point2, Pose2> Product

Definition at line 33 of file testLie.cpp.

Function Documentation

between_proxy()

Product between_proxy	(	const Product &	A,
		const Product &	B
	)

Definition at line 78 of file testLie.cpp.

compose_proxy()

Product compose_proxy	(	const Product &	A,
		const Product &	B
	)

Definition at line 63 of file testLie.cpp.

expmap_proxy()

Product expmap_proxy

(

const Vector5 &

vec

)

Definition at line 106 of file testLie.cpp.

interpolate_proxy()

Product interpolate_proxy	(	const Product &	x,
		const Product &	y,
		double	t
	)

Definition at line 133 of file testLie.cpp.

inverse_proxy()

Product inverse_proxy

(

const Product &

A

)

Definition at line 93 of file testLie.cpp.

logmap_proxy()

Vector5 logmap_proxy

(

const Product &

p

)

Definition at line 120 of file testLie.cpp.

main()

int main

(

)

Definition at line 182 of file testLie.cpp.

TEST() [1/7]

TEST	(	Lie	,
		Interpolate
	)

Definition at line 137 of file testLie.cpp.

TEST() [2/7]

TEST	(	Lie	,
		ProductLieGroup
	)

Definition at line 49 of file testLie.cpp.

TEST() [3/7]

TEST	(	testProduct	,
		between
	)

Definition at line 81 of file testLie.cpp.

TEST() [4/7]

TEST	(	testProduct	,
		compose
	)

Definition at line 66 of file testLie.cpp.

TEST() [5/7]

TEST	(	testProduct	,
		Expmap
	)

Definition at line 109 of file testLie.cpp.

TEST() [6/7]

TEST	(	testProduct	,
		inverse
	)

Definition at line 96 of file testLie.cpp.

TEST() [7/7]

TEST	(	testProduct	,
		Logmap
	)

Definition at line 123 of file testLie.cpp.

Variable Documentation

tol

const double tol = 1e-9

static

Definition at line 30 of file testLie.cpp.