testUnit3.cpp File Reference

#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/serializationTestHelpers.h>
#include <gtsam/geometry/Unit3.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>
#include <random>

Include dependency graph for testUnit3.cpp:

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Functions
Vector6	BasisTest (const Unit3 &p, OptionalJacobian< 6, 2 > H)
int	main ()
Point3	point3_ (const Unit3 &p)
static Unit3	rotate_ (const Rot3 &R, const Unit3 &p)
	TEST (Unit3, basis)
	TEST (Unit3, basis_derivatives)
	Check the basis derivatives of a bunch of random Unit3s. More...
	TEST (Unit3, CopyAssign)
	TEST (Unit3, distance)
	TEST (Unit3, dot)
	TEST (Unit3, error)
	TEST (Unit3, error2)
	TEST (Unit3, ErrorBetweenFactor)
	TEST (Unit3, FromPoint3)
	TEST (Unit3, jacobian_retract)
	TEST (Unit3, localCoordinates)
	TEST (Unit3, localCoordinates0)
	TEST (Unit3, localCoordinates_retract)
	TEST (Unit3, point3)
	TEST (Unit3, Random)
	TEST (Unit3, retract)
	TEST (Unit3, retract_expmap)
	TEST (Unit3, rotate)
	TEST (Unit3, unrotate)
static Unit3	unrotate_ (const Rot3 &R, const Unit3 &p)

Function Documentation

BasisTest()

Vector6 BasisTest	(	const Unit3 &	p,
		OptionalJacobian< 6, 2 >	H
	)

Definition at line 311 of file testUnit3.cpp.

main()

int main

(

)

Definition at line 513 of file testUnit3.cpp.

point3_()

Point3 point3_

(

const Unit3 &

p

)

Definition at line 46 of file testUnit3.cpp.

rotate_()

static Unit3 rotate_ ( const Rot3 &  R, const Unit3 &  p  )

static

Definition at line 63 of file testUnit3.cpp.

TEST() [1/19]

TEST	(	Unit3	,
		basis
	)

Definition at line 318 of file testUnit3.cpp.

TEST() [2/19]

TEST	(	Unit3	,
		basis_derivatives
	)

Check the basis derivatives of a bunch of random Unit3s.

Definition at line 345 of file testUnit3.cpp.

TEST() [3/19]

TEST	(	Unit3	,
		CopyAssign
	)

Definition at line 492 of file testUnit3.cpp.

TEST() [4/19]

TEST	(	Unit3	,
		distance
	)

Definition at line 217 of file testUnit3.cpp.

TEST() [5/19]

TEST	(	Unit3	,
		dot
	)

Definition at line 113 of file testUnit3.cpp.

TEST() [6/19]

TEST	(	Unit3	,
		error
	)

Definition at line 146 of file testUnit3.cpp.

TEST() [7/19]

TEST	(	Unit3	,
		error2
	)

Definition at line 170 of file testUnit3.cpp.

TEST() [8/19]

TEST	(	Unit3	,
		ErrorBetweenFactor
	)

Definition at line 452 of file testUnit3.cpp.

TEST() [9/19]

TEST	(	Unit3	,
		FromPoint3
	)

Definition at line 441 of file testUnit3.cpp.

TEST() [10/19]

TEST	(	Unit3	,
		jacobian_retract
	)

Definition at line 380 of file testUnit3.cpp.

TEST() [11/19]

TEST	(	Unit3	,
		localCoordinates
	)

Definition at line 247 of file testUnit3.cpp.

TEST() [12/19]

TEST	(	Unit3	,
		localCoordinates0
	)

Definition at line 241 of file testUnit3.cpp.

TEST() [13/19]

TEST	(	Unit3	,
		localCoordinates_retract
	)

Definition at line 422 of file testUnit3.cpp.

TEST() [14/19]

TEST	(	Unit3	,
		point3
	)

Definition at line 50 of file testUnit3.cpp.

TEST() [15/19]

TEST	(	Unit3	,
		Random
	)

Definition at line 410 of file testUnit3.cpp.

TEST() [16/19]

TEST	(	Unit3	,
		retract
	)

Definition at line 361 of file testUnit3.cpp.

TEST() [17/19]

TEST	(	Unit3	,
		retract_expmap
	)

Definition at line 400 of file testUnit3.cpp.

TEST() [18/19]

TEST	(	Unit3	,
		rotate
	)

Definition at line 67 of file testUnit3.cpp.

TEST() [19/19]

TEST	(	Unit3	,
		unrotate
	)

Definition at line 92 of file testUnit3.cpp.

unrotate_()

static Unit3 unrotate_ ( const Rot3 &  R, const Unit3 &  p  )

static

Definition at line 88 of file testUnit3.cpp.