testSimilarity3.cpp File Reference

Unit tests for Similarity3 class. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Similarity3.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ExpressionFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/slam/BetweenFactor.h>
#include <functional>

Include dependency graph for testSimilarity3.cpp:

Go to the source code of this file.

Functions
int	main ()
static const Point3	P (0.2, 0.7, -2)
	TEST (Similarity3, AdjointMap)
	TEST (Similarity3, AlignPoint3_1)
	TEST (Similarity3, AlignPoint3_2)
	TEST (Similarity3, AlignPoint3_3)
	TEST (Similarity3, AlignPose3)
	TEST (Similarity3, AlignScaledPointClouds)
	TEST (Similarity3, BruteForceExpmap)
	TEST (Similarity3, Concepts)
	TEST (Similarity3, Constructors)
	TEST (Similarity3, ExpLogMap)
	TEST (Similarity3, Getters)
	TEST (Similarity3, GroupAction)
	TEST (Similarity3, GroupActionPose3)
	TEST (Similarity3, GroupActionPose3_Compatibility)
	TEST (Similarity3, HatAndVee)
	TEST (Similarity3, Invariants)
	TEST (Similarity3, inverse)
	TEST (Similarity3, LieGroupDerivatives)
	TEST (Similarity3, localCoordinates_first_order)
	TEST (Similarity3, Manifold)
	TEST (Similarity3, manifold_first_order)
	TEST (Similarity3, Matrix)
	TEST (Similarity3, Multiplication)
	TEST (Similarity3, Optimization)
	TEST (Similarity3, Optimization2)
	TEST (Similarity3, retract_first_order)

Variables
const double	degree = M_PI / 180
static const Similarity3	id
static const Rot3	R = Rot3::Rodrigues(0.3, 0, 0)
static const double	s = 4
static const Similarity3	T1 (R, Point3(3.5, -8.2, 4.2), 1)
static const Similarity3	T2 (Rot3::Rodrigues(0.3, 0.2, 0.1), Point3(3.5, -8.2, 4.2), 1)
static const Similarity3	T3 (Rot3::Rodrigues(-90, 0, 0), Point3(1, 2, 3), 1)
static const Similarity3	T4 (R, P, s)
static const Similarity3	T5 (R, P, 10)
static const Similarity3	T6 (Rot3(), Point3(1, 1, 0), 2)

Detailed Description

Unit tests for Similarity3 class.

Author

Paul Drews

Zhaoyang Lv

Definition in file testSimilarity3.cpp.

Function Documentation

main()

int main

(

)

Definition at line 556 of file testSimilarity3.cpp.

P()

static const Point3 P ( 0.  2, 0.  7, -  2  )

static

TEST() [1/26]

TEST	(	Similarity3	,
		AdjointMap
	)

Definition at line 113 of file testSimilarity3.cpp.

TEST() [2/26]

TEST	(	Similarity3	,
		AlignPoint3_1
	)

Definition at line 334 of file testSimilarity3.cpp.

TEST() [3/26]

TEST	(	Similarity3	,
		AlignPoint3_2
	)

Definition at line 349 of file testSimilarity3.cpp.

TEST() [4/26]

TEST	(	Similarity3	,
		AlignPoint3_3
	)

Definition at line 364 of file testSimilarity3.cpp.

TEST() [5/26]

TEST	(	Similarity3	,
		AlignPose3
	)

Definition at line 381 of file testSimilarity3.cpp.

TEST() [6/26]

TEST	(	Similarity3	,
		AlignScaledPointClouds
	)

Definition at line 505 of file testSimilarity3.cpp.

TEST() [7/26]

TEST	(	Similarity3	,
		BruteForceExpmap
	)

Definition at line 107 of file testSimilarity3.cpp.

TEST() [8/26]

TEST	(	Similarity3	,
		Concepts
	)

Definition at line 56 of file testSimilarity3.cpp.

TEST() [9/26]

TEST	(	Similarity3	,
		Constructors
	)

Definition at line 63 of file testSimilarity3.cpp.

TEST() [10/26]

TEST	(	Similarity3	,
		ExpLogMap
	)

Definition at line 227 of file testSimilarity3.cpp.

TEST() [11/26]

TEST	(	Similarity3	,
		Getters
	)

Definition at line 71 of file testSimilarity3.cpp.

TEST() [12/26]

TEST	(	Similarity3	,
		GroupAction
	)

Definition at line 245 of file testSimilarity3.cpp.

TEST() [13/26]

TEST	(	Similarity3	,
		GroupActionPose3
	)

Definition at line 291 of file testSimilarity3.cpp.

TEST() [14/26]

TEST	(	Similarity3	,
		GroupActionPose3_Compatibility
	)

Definition at line 312 of file testSimilarity3.cpp.

TEST() [15/26]

TEST	(	Similarity3	,
		HatAndVee
	)

Definition at line 84 of file testSimilarity3.cpp.

TEST() [16/26]

TEST	(	Similarity3	,
		Invariants
	)

Definition at line 531 of file testSimilarity3.cpp.

TEST() [17/26]

TEST	(	Similarity3	,
		inverse
	)

Definition at line 124 of file testSimilarity3.cpp.

TEST() [18/26]

TEST	(	Similarity3	,
		LieGroupDerivatives
	)

Definition at line 546 of file testSimilarity3.cpp.

TEST() [19/26]

TEST	(	Similarity3	,
		localCoordinates_first_order
	)

Definition at line 198 of file testSimilarity3.cpp.

TEST() [20/26]

TEST	(	Similarity3	,
		Manifold
	)

Definition at line 151 of file testSimilarity3.cpp.

TEST() [21/26]

TEST	(	Similarity3	,
		manifold_first_order
	)

Definition at line 206 of file testSimilarity3.cpp.

TEST() [22/26]

TEST	(	Similarity3	,
		Matrix
	)

Definition at line 218 of file testSimilarity3.cpp.

TEST() [23/26]

TEST	(	Similarity3	,
		Multiplication
	)

Definition at line 140 of file testSimilarity3.cpp.

TEST() [24/26]

TEST	(	Similarity3	,
		Optimization
	)

Definition at line 409 of file testSimilarity3.cpp.

TEST() [25/26]

TEST	(	Similarity3	,
		Optimization2
	)

Definition at line 435 of file testSimilarity3.cpp.

TEST() [26/26]

TEST	(	Similarity3	,
		retract_first_order
	)

Definition at line 186 of file testSimilarity3.cpp.

Variable Documentation

degree

const double degree = M_PI / 180

Definition at line 53 of file testSimilarity3.cpp.

id

const Similarity3 id

static

Definition at line 44 of file testSimilarity3.cpp.

R

const Rot3 R = Rot3::Rodrigues(0.3, 0, 0)

static

Definition at line 42 of file testSimilarity3.cpp.

s

const double s = 4

static

Definition at line 43 of file testSimilarity3.cpp.

T1

const Similarity3 T1(R, Point3(3.5, -8.2, 4.2), 1)

static

T2

const Similarity3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), Point3(3.5, -8.2, 4.2), 1)

static

T3

const Similarity3 T3(Rot3::Rodrigues(-90, 0, 0), Point3(1, 2, 3), 1)

static

T4

const Similarity3 T4(R, P, s)

static

T5

const Similarity3 T5(R, P, 10)

static

T6

const Similarity3 T6(Rot3(), Point3(1, 1, 0), 2)

static