Unit test for the ManifoldEKF base class using Unit3. More...

#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Unit3.h>
#include <gtsam/navigation/ManifoldEKF.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>

Include dependency graph for testManifoldEKF.cpp:

Go to the source code of this file.

Classes
struct	Unit3EKFTest

Namespaces
	exampleDynamicMatrix

	exampleUnit3

Functions
Matrix	exampleDynamicMatrix::f (const Matrix &p, const Vector &vTangent, double dt)

Unit3	exampleUnit3::f (const Unit3 &p, const Vector2 &v, double dt)

double	exampleDynamicMatrix::h (const Matrix &p, OptionalJacobian<-1, -1 > H={})

int	main ()

double	exampleUnit3::measureZ (const Unit3 &p, OptionalJacobian< 1, 2 > H)

	TEST (ManifoldEKF_DynamicMatrix, CombinedPredictAndUpdate)

	TEST (ManifoldEKF_Unit3, Predict)

	TEST (ManifoldEKF_Unit3, Update)

Detailed Description

Unit test for the ManifoldEKF base class using Unit3.

Date: April 26, 2025

Authors: Scott Baker, Matt Kielo, Frank Dellaert

Definition in file testManifoldEKF.cpp.

Function Documentation

◆ main()

int main ( )

Definition at line 232 of file testManifoldEKF.cpp.

◆ TEST() [1/3]

TEST	(	ManifoldEKF_DynamicMatrix	,
		CombinedPredictAndUpdate
	)

Definition at line 173 of file testManifoldEKF.cpp.

◆ TEST() [2/3]

TEST	(	ManifoldEKF_Unit3	,
		Predict
	)

Definition at line 71 of file testManifoldEKF.cpp.

◆ TEST() [3/3]

TEST	(	ManifoldEKF_Unit3	,
		Update
	)

Definition at line 110 of file testManifoldEKF.cpp.

Classes