Functions | Variables
testAHRSFactor.cpp File Reference

Unit test for AHRSFactor. More...

#include <gtsam/navigation/AHRSFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/debug.h>
#include <CppUnitLite/TestHarness.h>
#include <list>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/Marginals.h>
Include dependency graph for testAHRSFactor.cpp:

Go to the source code of this file.

Functions

Vector3 kZeroOmegaCoriolis (0, 0, 0)
 
int main ()
 
 TEST (AHRSFactor, PreintegratedAhrsMeasurements)
 
 TEST (AHRSFactor, PreintegratedAhrsMeasurementsConstructor)
 
 TEST (AHRSFactor, Error)
 
 TEST (AHRSFactor, ErrorWithBiases)
 
 TEST (AHRSFactor, PartialDerivativeExpmap)
 
 TEST (AHRSFactor, PartialDerivativeLogmap)
 
 TEST (AHRSFactor, fistOrderExponential)
 
 TEST (AHRSFactor, FirstOrderPreIntegratedMeasurements)
 
 TEST (AHRSFactor, ErrorWithBiasesAndSensorBodyDisplacement)
 
 TEST (AHRSFactor, predictTest)
 
 TEST (AHRSFactor, graphTest)
 

Variables

double accNoiseVar = 0.01
 
const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3
 

Detailed Description

Unit test for AHRSFactor.

Author
Krunal Chande
Luca Carlone
Frank Dellaert
Varun Agrawal

Definition in file testAHRSFactor.cpp.

Function Documentation

◆ kZeroOmegaCoriolis()

Vector3 kZeroOmegaCoriolis ( ,
,
 
)

◆ main()

int main ( void  )

Definition at line 508 of file testAHRSFactor.cpp.

◆ TEST() [1/11]

< Current estimate of angular rate bias

Definition at line 92 of file testAHRSFactor.cpp.

◆ TEST() [2/11]

TEST ( AHRSFactor  ,
PreintegratedAhrsMeasurementsConstructor   
)

< Current estimate of angular rate bias

Definition at line 124 of file testAHRSFactor.cpp.

◆ TEST() [3/11]

TEST ( AHRSFactor  ,
Error   
)

Definition at line 152 of file testAHRSFactor.cpp.

◆ TEST() [4/11]

TEST ( AHRSFactor  ,
ErrorWithBiases   
)

Definition at line 208 of file testAHRSFactor.cpp.

◆ TEST() [5/11]

TEST ( AHRSFactor  ,
PartialDerivativeExpmap   
)

Definition at line 260 of file testAHRSFactor.cpp.

◆ TEST() [6/11]

TEST ( AHRSFactor  ,
PartialDerivativeLogmap   
)

< Current estimate of rotation rate bias

Definition at line 285 of file testAHRSFactor.cpp.

◆ TEST() [7/11]

TEST ( AHRSFactor  ,
fistOrderExponential   
)

Definition at line 311 of file testAHRSFactor.cpp.

◆ TEST() [8/11]

TEST ( AHRSFactor  ,
FirstOrderPreIntegratedMeasurements   
)

< Current estimate of rotation rate bias

Definition at line 343 of file testAHRSFactor.cpp.

◆ TEST() [9/11]

TEST ( AHRSFactor  ,
ErrorWithBiasesAndSensorBodyDisplacement   
)

Definition at line 384 of file testAHRSFactor.cpp.

◆ TEST() [10/11]

TEST ( AHRSFactor  ,
predictTest   
)

Definition at line 435 of file testAHRSFactor.cpp.

◆ TEST() [11/11]

TEST ( AHRSFactor  ,
graphTest   
)

Definition at line 472 of file testAHRSFactor.cpp.

Variable Documentation

◆ accNoiseVar

double accNoiseVar = 0.01

Definition at line 42 of file testAHRSFactor.cpp.

◆ kMeasuredAccCovariance

const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3

Definition at line 43 of file testAHRSFactor.cpp.



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Author(s):
autogenerated on Tue Jul 4 2023 02:40:55