#include <CppUnitLite/TestHarness.h>
#include <gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>

Include dependency graph for testTransformBtwRobotsUnaryFactorEM.cpp:

Functions
int	main ()

Vector	predictionError (const Pose2 &org1_T_org2, const gtsam::Key &key, const TransformBtwRobotsUnaryFactorEM< gtsam::Pose2 > &factor)

	TEST (TransformBtwRobotsUnaryFactorEM, ConstructorAndEquals)

	TEST (TransformBtwRobotsUnaryFactorEM, Jacobian)

	TEST (TransformBtwRobotsUnaryFactorEM, Optimize)

	TEST (TransformBtwRobotsUnaryFactorEM, unwhitenedError)

	TEST (TransformBtwRobotsUnaryFactorEM, unwhitenedError2)

Function Documentation

◆ main()

int main ( )

Definition at line 330 of file testTransformBtwRobotsUnaryFactorEM.cpp.

◆ predictionError()

Vector predictionError	(	const Pose2 &	org1_T_org2,
		const gtsam::Key &	key,
		const TransformBtwRobotsUnaryFactorEM< gtsam::Pose2 > &	factor
	)

Definition at line 26 of file testTransformBtwRobotsUnaryFactorEM.cpp.

◆ TEST() [1/5]

TEST	(	TransformBtwRobotsUnaryFactorEM	,
		ConstructorAndEquals
	)

Definition at line 43 of file testTransformBtwRobotsUnaryFactorEM.cpp.

◆ TEST() [2/5]

TEST	(	TransformBtwRobotsUnaryFactorEM	,
		Jacobian
	)

Definition at line 222 of file testTransformBtwRobotsUnaryFactorEM.cpp.

◆ TEST() [3/5]

TEST	(	TransformBtwRobotsUnaryFactorEM	,
		Optimize
	)

Definition at line 154 of file testTransformBtwRobotsUnaryFactorEM.cpp.

◆ TEST() [4/5]

TEST	(	TransformBtwRobotsUnaryFactorEM	,
		unwhitenedError
	)

Definition at line 76 of file testTransformBtwRobotsUnaryFactorEM.cpp.

◆ TEST() [5/5]

TEST	(	TransformBtwRobotsUnaryFactorEM	,
		unwhitenedError2
	)

Definition at line 115 of file testTransformBtwRobotsUnaryFactorEM.cpp.

Functions