testAdaptAutoDiff.cpp File Reference

#include <gtsam/3rdparty/ceres/example.h>
#include <gtsam/nonlinear/AdaptAutoDiff.h>
#include <gtsam/nonlinear/Expression.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testAdaptAutoDiff.cpp:

Go to the source code of this file.

Classes
struct	gtsam::Cal3Bundler0
struct	Projective
struct	gtsam::traits< Cal3Bundler0 >

Namespaces
	example
	gtsam
	traits

Typedefs
typedef PinholeCamera< Cal3Bundler0 >	gtsam::Camera

Functions
Vector2	adapted (const Vector9 &P, const Vector3 &X)
int	main ()
Point3	example::point (10, 0, -5)
double	RandDouble ()
template<typename T >
T &	RowMajorAccess (T *base, int rows, int cols, int i, int j)
	TEST (AdaptAutoDiff, Rotation)
	TEST (AdaptAutoDiff, AutoDiff)
	TEST (AdaptAutoDiff, Local)
	TEST (AdaptAutoDiff, AutoDiff2)
	TEST (AdaptAutoDiff, AdaptAutoDiff)
	TEST (AdaptAutoDiff, SnavelyExpression)

Variables
Camera	example::camera (Pose3(Rot3().retract(Vector3(0.1, 0.2, 0.3)), Point3(0, 5, 0)), Cal3Bundler0(1, 0, 0))
Matrix	example::E1 = numericalDerivative21<Vector2, Vector9, Vector3>(adapted, P, X)
Matrix	example::E2 = numericalDerivative22<Vector2, Vector9, Vector3>(adapted, P, X)
Vector2	example::expectedMeasurement (1.2431567, 1.2525694)
Vector9	example::P = Camera().localCoordinates(camera)
Vector3	example::X = point

Function Documentation

adapted()

Vector2 adapted	(	const Vector9 &	P,
		const Vector3 &	X
	)

Definition at line 152 of file testAdaptAutoDiff.cpp.

main()

int main

(

void

)

Definition at line 258 of file testAdaptAutoDiff.cpp.

RandDouble()

double RandDouble ( )

inline

Definition at line 76 of file testAdaptAutoDiff.cpp.

RowMajorAccess()

template<typename T >

T& RowMajorAccess ( T *  base, int  rows, int  cols, int  i, int  j  )

inline

Definition at line 72 of file testAdaptAutoDiff.cpp.

TEST() [1/6]

TEST	(	AdaptAutoDiff	,
		Rotation
	)

Definition at line 60 of file testAdaptAutoDiff.cpp.

TEST() [2/6]

TEST	(	AdaptAutoDiff	,
		AutoDiff
	)

Definition at line 115 of file testAdaptAutoDiff.cpp.

TEST() [3/6]

TEST	(	AdaptAutoDiff	,
		Local
	)

Definition at line 179 of file testAdaptAutoDiff.cpp.

TEST() [4/6]

TEST	(	AdaptAutoDiff	,
		AutoDiff2
	)

Definition at line 193 of file testAdaptAutoDiff.cpp.

TEST() [5/6]

TEST	(	AdaptAutoDiff	,
		AdaptAutoDiff
	)

Definition at line 217 of file testAdaptAutoDiff.cpp.

TEST() [6/6]

TEST	(	AdaptAutoDiff	,
		SnavelyExpression
	)

Definition at line 238 of file testAdaptAutoDiff.cpp.