Classes | Namespaces | Typedefs | Functions | Variables
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< Cal3Bundler0gtsam::Camera
 

Functions

Vector2 adapted (const Vector9 &P, const Vector3 &X)
 
int main ()
 
Point3 example::point (10, 0, -5)
 
double RandDouble ()
 
template<typename T >
TRowMajorAccess (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.



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autogenerated on Tue Jul 4 2023 02:40:55