test_problems.cpp File Reference

#include <exotica_core/exotica_core.h>
#include <exotica_core/tools/test_helpers.h>
#include <gtest/gtest.h>
#include <string>
#include <vector>

Include dependency graph for test_problems.cpp:

Go to the source code of this file.

Macros
#define	CREATE_PROBLEM(X, I)   std::shared_ptr<X> problem = CreateProblem<X>(#X, I);
#define	NUM_TRIALS   100

Functions
template<class T >
std::shared_ptr< T >	CreateProblem (const std::string &name, int derivative)
int	main (int argc, char **argv)
	TEST (ExoticaProblems, UnconstrainedEndPoseProblem)
	TEST (ExoticaProblems, BoundedEndPoseProblem)
	TEST (ExoticaProblems, EndPoseProblem)
	TEST (ExoticaProblems, UnconstrainedTimeIndexedProblem)
	TEST (ExoticaProblems, BoundedTimeIndexedProblem)
	TEST (ExoticaProblems, TimeIndexedProblem)
	TEST (ExoticaProblems, SamplingProblem)
	TEST (ExoticaProblems, TimeIndexedSamplingProblem)
template<class T >
void	testHessianEndPose (std::shared_ptr< T > problem, EndPoseTask &task, double eps=1e-4, double h=1e-5)
template<class T >
void	testHessianTimeIndexed (std::shared_ptr< T > problem, TimeIndexedTask &task, int t, double eps=1e-4, double h=1e-5)
template<class T >
void	testJacobianEndPose (std::shared_ptr< T > problem, EndPoseTask &task, double eps=1e-4, double h=1e-5)
template<class T >
void	testJacobianTimeIndexed (std::shared_ptr< T > problem, TimeIndexedTask &task, int t, double eps=1e-4, double h=1e-5)

Macro Definition Documentation

CREATE_PROBLEM

#define CREATE_PROBLEM	(		X,
			I
	)		std::shared_ptr<X> problem = CreateProblem<X>(#X, I);

Definition at line 38 of file test_problems.cpp.

NUM_TRIALS

#define NUM_TRIALS   100

Definition at line 39 of file test_problems.cpp.

Function Documentation

CreateProblem()

template<class T >

std::shared_ptr<T> CreateProblem	(	const std::string &	name,
		int	derivative
	)

Definition at line 60 of file test_problems.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 594 of file test_problems.cpp.

TEST() [1/8]

TEST	(	ExoticaProblems	,
		UnconstrainedEndPoseProblem
	)

Definition at line 244 of file test_problems.cpp.

TEST() [2/8]

TEST	(	ExoticaProblems	,
		BoundedEndPoseProblem
	)

Definition at line 280 of file test_problems.cpp.

TEST() [3/8]

TEST	(	ExoticaProblems	,
		EndPoseProblem
	)

Definition at line 316 of file test_problems.cpp.

TEST() [4/8]

TEST	(	ExoticaProblems	,
		UnconstrainedTimeIndexedProblem
	)

Definition at line 390 of file test_problems.cpp.

TEST() [5/8]

TEST	(	ExoticaProblems	,
		BoundedTimeIndexedProblem
	)

Definition at line 434 of file test_problems.cpp.

TEST() [6/8]

TEST	(	ExoticaProblems	,
		TimeIndexedProblem
	)

Definition at line 478 of file test_problems.cpp.

TEST() [7/8]

TEST	(	ExoticaProblems	,
		SamplingProblem
	)

Definition at line 560 of file test_problems.cpp.

TEST() [8/8]

TEST	(	ExoticaProblems	,
		TimeIndexedSamplingProblem
	)

Definition at line 577 of file test_problems.cpp.

testHessianEndPose()

template<class T >

void testHessianEndPose	(	std::shared_ptr< T >	problem,
		EndPoseTask &	task,
		double	eps = 1e-4,
		double	h = 1e-5
	)

Definition at line 106 of file test_problems.cpp.

testHessianTimeIndexed()

template<class T >

void testHessianTimeIndexed	(	std::shared_ptr< T >	problem,
		TimeIndexedTask &	task,
		int	t,
		double	eps = 1e-4,
		double	h = 1e-5
	)

Definition at line 192 of file test_problems.cpp.

testJacobianEndPose()

template<class T >

void testJacobianEndPose	(	std::shared_ptr< T >	problem,
		EndPoseTask &	task,
		double	eps = 1e-4,
		double	h = 1e-5
	)

Definition at line 73 of file test_problems.cpp.

testJacobianTimeIndexed()

template<class T >

void testJacobianTimeIndexed	(	std::shared_ptr< T >	problem,
		TimeIndexedTask &	task,
		int	t,
		double	eps = 1e-4,
		double	h = 1e-5
	)

Definition at line 159 of file test_problems.cpp.