Unit test for the BetweenFactorEM. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam_unstable/slam/BetweenFactorEM.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/Vector.h>
#include <gtsam/slam/BetweenFactor.h>

Include dependency graph for testBetweenFactorEM.cpp:

Go to the source code of this file.

Functions
int	main ()

Vector	predictionError (const Pose2 &p1, const Pose2 &p2, const gtsam::Key &key1, const gtsam::Key &key2, const BetweenFactorEM< gtsam::Pose2 > &factor)

Vector	predictionError_standard (const Pose2 &p1, const Pose2 &p2, const gtsam::Key &key1, const gtsam::Key &key2, const BetweenFactor< gtsam::Pose2 > &factor)

	TEST (BetweenFactorEM, ConstructorAndEquals)

	TEST (BetweenFactorEM, EvaluateError)

	TEST (BetweenFactorEM, jacobian)

	TEST (BetweenFactorEM, CaseStudy)

	TEST (BetweenFactorEM, updateNoiseModel)

Detailed Description

Unit test for the BetweenFactorEM.

Author: Vadim Indelman

Definition in file testBetweenFactorEM.cpp.

Function Documentation

◆ main()

int main ( void )

Definition at line 300 of file testBetweenFactorEM.cpp.

◆ predictionError()

Vector predictionError	(	const Pose2 &	p1,
		const Pose2 &	p2,
		const gtsam::Key &	key1,
		const gtsam::Key &	key2,
		const BetweenFactorEM< gtsam::Pose2 > &	factor
	)

Definition at line 28 of file testBetweenFactorEM.cpp.

◆ predictionError_standard()

Vector predictionError_standard	(	const Pose2 &	p1,
		const Pose2 &	p2,
		const gtsam::Key &	key1,
		const gtsam::Key &	key2,
		const BetweenFactor< gtsam::Pose2 > &	factor
	)

Definition at line 36 of file testBetweenFactorEM.cpp.

◆ TEST() [1/5]

TEST	(	BetweenFactorEM	,
		ConstructorAndEquals
	)

Definition at line 46 of file testBetweenFactorEM.cpp.

◆ TEST() [2/5]

TEST	(	BetweenFactorEM	,
		EvaluateError
	)

Definition at line 74 of file testBetweenFactorEM.cpp.

◆ TEST() [3/5]

TEST	(	BetweenFactorEM	,
		jacobian
	)

************************************************************************** */

Definition at line 146 of file testBetweenFactorEM.cpp.

◆ TEST() [4/5]

TEST	(	BetweenFactorEM	,
		CaseStudy
	)

Definition at line 209 of file testBetweenFactorEM.cpp.

◆ TEST() [5/5]

TEST	(	BetweenFactorEM	,
		updateNoiseModel
	)

************************************************************************** */

Definition at line 256 of file testBetweenFactorEM.cpp.

Functions