Unit tests for Pose2 class. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/lieProxies.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Rot2.h>
#include <optional>
#include <cmath>
#include <iostream>
#include "testPoseAdjointMap.h"

Include dependency graph for testPose2.cpp:

Go to the source code of this file.

Namespaces
	align_3

	screwPose2

Functions
Point2	align_3::b1 (0, 0)

Point2	align_3::b2 (10, 0)

Point2	align_3::b3 (10, 10)

Point2	screwPose2::expectedT (-0.0446635, 0.29552)

int	main ()

Point2	align_3::t (10, 10)

	TEST (Pose2, Adjoint_full)

	TEST (Pose2, Adjoint_hat)

	TEST (Pose2, align_1)

	TEST (Pose2, align_2)

	TEST (Pose2, align_3)

	TEST (Pose2, align_4)

	TEST (Pose2, bearing)

	TEST (Pose2, bearing_pose)

	TEST (Pose2, between)

	TEST (Pose2, between2)

	TEST (Pose2, between3)

	TEST (Pose2, ChartDerivatives)

	TEST (Pose2, compose_a)

	TEST (Pose2, compose_b)

	TEST (Pose2, compose_c)

	TEST (Pose2, compose_matrix)

	TEST (Pose2, Concept)

	TEST (Pose2, constructors)

	TEST (Pose2, expmap)

	TEST (Pose2, expmap0a)

	TEST (Pose2, expmap0b)

	TEST (Pose2, expmap0c)

	TEST (Pose2, expmap0d)

	TEST (Pose2, expmap2)

	TEST (Pose2, expmap3)

	TEST (Pose2, expmap_c)

	TEST (Pose2, expmap_c_full)

	TEST (Pose2, ExpmapDerivative1)

	TEST (Pose2, ExpmapDerivative2)

	TEST (Pose2, HatAndVee)

	TEST (Pose2, Invariants)

	TEST (Pose2, inverse)

	TEST (Pose2, LieGroupDerivatives)

	TEST (Pose2, logmap)

	TEST (Pose2, logmap_full)

	TEST (Pose2, LogmapDerivative1)

	TEST (Pose2, LogmapDerivative2)

	TEST (Pose2, manifold)

	TEST (Pose2, matrix)

	TEST (Pose2, Print)

	TEST (Pose2, range)

	TEST (Pose2, range_pose)

	TEST (Pose2, retract)

	TEST (Pose2, rotation)

	TEST (Pose2, round_trip)

	TEST (Pose2, TransformCovariance3)

	TEST (Pose2, transformFrom)

	TEST (Pose2, transformTo)

	TEST (Pose2, translation)

	TEST (Pose2, vec)

static Point2	transformFrom_ (const Pose2 &pose, const Point2 &point)

static Point2	transformTo_ (const Pose2 &pose, const Point2 &point)

Variables
Point2	align_3::a1 = expected.transformFrom(b1)

Point2	align_3::a2 = expected.transformFrom(b2)

Point2	align_3::a3 = expected.transformFrom(b3)

Pose2	screwPose2::expected (expectedR, expectedT)

Pose2	align_3::expected (Rot2::fromAngle(2 *M_PI/3), t)

Rot2	screwPose2::expectedR = Rot2::fromAngle(w)

double	screwPose2::w =0.3

Vector	screwPose2::xi = (Vector(3) << 0.0, w, w).finished()

Detailed Description

Unit tests for Pose2 class.

Definition in file testPose2.cpp.

Function Documentation

◆ main()

int main ( )

Definition at line 979 of file testPose2.cpp.

◆ TEST() [1/50]

TEST	(	Pose2	,
		Adjoint_full
	)

Definition at line 197 of file testPose2.cpp.

◆ TEST() [2/50]

TEST	(	Pose2	,
		Adjoint_hat
	)

Definition at line 211 of file testPose2.cpp.

◆ TEST() [3/50]

TEST	(	Pose2	,
		align_1
	)

Definition at line 764 of file testPose2.cpp.

◆ TEST() [4/50]

TEST	(	Pose2	,
		align_2
	)

Definition at line 772 of file testPose2.cpp.

◆ TEST() [5/50]

TEST	(	Pose2	,
		align_3
	)

Definition at line 794 of file testPose2.cpp.

◆ TEST() [6/50]

TEST	(	Pose2	,
		align_4
	)

Definition at line 822 of file testPose2.cpp.

◆ TEST() [7/50]

TEST	(	Pose2	,
		bearing
	)

Definition at line 615 of file testPose2.cpp.

◆ TEST() [8/50]

TEST	(	Pose2	,
		bearing_pose
	)

Definition at line 653 of file testPose2.cpp.

◆ TEST() [9/50]

TEST	(	Pose2	,
		between
	)

Definition at line 525 of file testPose2.cpp.

◆ TEST() [10/50]

TEST	(	Pose2	,
		between2
	)

Definition at line 566 of file testPose2.cpp.

◆ TEST() [11/50]

TEST	(	Pose2	,
		between3
	)

Definition at line 581 of file testPose2.cpp.

◆ TEST() [12/50]

TEST	(	Pose2	,
		ChartDerivatives
	)

Definition at line 863 of file testPose2.cpp.

◆ TEST() [13/50]

TEST	(	Pose2	,
		compose_a
	)

Definition at line 343 of file testPose2.cpp.

◆ TEST() [14/50]

TEST	(	Pose2	,
		compose_b
	)

Definition at line 377 of file testPose2.cpp.

◆ TEST() [15/50]

TEST	(	Pose2	,
		compose_c
	)

Definition at line 398 of file testPose2.cpp.

◆ TEST() [16/50]

TEST	(	Pose2	,
		compose_matrix
	)

Definition at line 489 of file testPose2.cpp.

◆ TEST() [17/50]

TEST	(	Pose2	,
		Concept
	)

Definition at line 37 of file testPose2.cpp.

◆ TEST() [18/50]

TEST	(	Pose2	,
		constructors
	)

Definition at line 44 of file testPose2.cpp.

◆ TEST() [19/50]

TEST	(	Pose2	,
		expmap
	)

Definition at line 79 of file testPose2.cpp.

◆ TEST() [20/50]

TEST	(	Pose2	,
		expmap0a
	)

Definition at line 114 of file testPose2.cpp.

◆ TEST() [21/50]

TEST	(	Pose2	,
		expmap0b
	)

Definition at line 121 of file testPose2.cpp.

◆ TEST() [22/50]

TEST	(	Pose2	,
		expmap0c
	)

Definition at line 129 of file testPose2.cpp.

◆ TEST() [23/50]

TEST	(	Pose2	,
		expmap0d
	)

Definition at line 137 of file testPose2.cpp.

◆ TEST() [24/50]

TEST	(	Pose2	,
		expmap2
	)

Definition at line 87 of file testPose2.cpp.

◆ TEST() [25/50]

TEST	(	Pose2	,
		expmap3
	)

Definition at line 95 of file testPose2.cpp.

◆ TEST() [26/50]

TEST	(	Pose2	,
		expmap_c
	)

Definition at line 175 of file testPose2.cpp.

◆ TEST() [27/50]

TEST	(	Pose2	,
		expmap_c_full
	)

Definition at line 183 of file testPose2.cpp.

◆ TEST() [28/50]

TEST	(	Pose2	,
		ExpmapDerivative1
	)

Definition at line 246 of file testPose2.cpp.

◆ TEST() [29/50]

TEST	(	Pose2	,
		ExpmapDerivative2
	)

Definition at line 256 of file testPose2.cpp.

◆ TEST() [30/50]

TEST	(	Pose2	,
		HatAndVee
	)

Definition at line 145 of file testPose2.cpp.

◆ TEST() [31/50]

TEST	(	Pose2	,
		Invariants
	)

Definition at line 842 of file testPose2.cpp.

◆ TEST() [32/50]

TEST	(	Pose2	,
		inverse
	)

Definition at line 419 of file testPose2.cpp.

◆ TEST() [33/50]

TEST	(	Pose2	,
		LieGroupDerivatives
	)

Definition at line 855 of file testPose2.cpp.

◆ TEST() [34/50]

TEST	(	Pose2	,
		logmap
	)

Definition at line 224 of file testPose2.cpp.

◆ TEST() [35/50]

TEST	(	Pose2	,
		logmap_full
	)

Definition at line 237 of file testPose2.cpp.

◆ TEST() [36/50]

TEST	(	Pose2	,
		LogmapDerivative1
	)

Definition at line 266 of file testPose2.cpp.

◆ TEST() [37/50]

TEST	(	Pose2	,
		LogmapDerivative2
	)

Definition at line 277 of file testPose2.cpp.

◆ TEST() [38/50]

TEST	(	Pose2	,
		manifold
	)

Definition at line 54 of file testPose2.cpp.

◆ TEST() [39/50]

TEST	(	Pose2	,
		matrix
	)

Definition at line 457 of file testPose2.cpp.

◆ TEST() [40/50]

TEST	(	Pose2	,
		Print
	)

Definition at line 946 of file testPose2.cpp.

◆ TEST() [41/50]

TEST	(	Pose2	,
		range
	)

Definition at line 692 of file testPose2.cpp.

◆ TEST() [42/50]

TEST	(	Pose2	,
		range_pose
	)

Definition at line 729 of file testPose2.cpp.

◆ TEST() [43/50]

TEST	(	Pose2	,
		retract
	)

Definition at line 67 of file testPose2.cpp.

◆ TEST() [44/50]

TEST	(	Pose2	,
		rotation
	)

Definition at line 512 of file testPose2.cpp.

◆ TEST() [45/50]

TEST	(	Pose2	,
		round_trip
	)

Definition at line 595 of file testPose2.cpp.

◆ TEST() [46/50]

TEST	(	Pose2	,
		TransformCovariance3
	)

Definition at line 873 of file testPose2.cpp.

◆ TEST() [47/50]

TEST	(	Pose2	,
		transformFrom
	)

Definition at line 321 of file testPose2.cpp.

◆ TEST() [48/50]

TEST	(	Pose2	,
		transformTo
	)

Definition at line 292 of file testPose2.cpp.

◆ TEST() [49/50]

TEST	(	Pose2	,
		translation
	)

Definition at line 500 of file testPose2.cpp.

◆ TEST() [50/50]

TEST	(	Pose2	,
		vec
	)

Definition at line 962 of file testPose2.cpp.

◆ transformFrom_()

static Point2 transformFrom_	(	const Pose2 &	pose,
		const Point2 &	point
	)

static

Definition at line 317 of file testPose2.cpp.

◆ transformTo_()

static Point2 transformTo_	(	const Pose2 &	pose,
		const Point2 &	point
	)