testCombinedImuFactor.cpp File Reference

Unit test for Lupton-style combined IMU factor. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/navigation/CombinedImuFactor.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam/navigation/ImuFactor.h>
#include <gtsam/navigation/ScenarioRunner.h>
#include <gtsam/nonlinear/Values.h>
#include <list>
#include "imuFactorTesting.h"

Include dependency graph for testCombinedImuFactor.cpp:

Go to the source code of this file.

Namespaces
	testing

Functions
int	main ()
static std::shared_ptr< PreintegratedCombinedMeasurements::Params >	testing::Params (const Matrix3 &biasAccCovariance=Matrix3::Zero(), const Matrix3 &biasOmegaCovariance=Matrix3::Zero(), const Matrix6 &biasAccOmegaInt=Matrix6::Zero())
	TEST (CombinedImuFactor, PreintegratedMeasurements)
	TEST (CombinedImuFactor, ErrorWithBiases)
	TEST (CombinedImuFactor, PredictPositionAndVelocity)
	TEST (CombinedImuFactor, PredictRotation)
	TEST (CombinedImuFactor, CheckCovariance)
	TEST (CombinedImuFactor, SameCovariance)
	TEST (CombinedImuFactor, Accelerating)
	TEST (CombinedImuFactor, ResetIntegration)

Detailed Description

Unit test for Lupton-style combined IMU factor.

Author

Luca Carlone

Frank Dellaert

Richard Roberts

Stephen Williams

Varun Agrawal

Definition in file testCombinedImuFactor.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 361 of file testCombinedImuFactor.cpp.

TEST() [1/8]

TEST	(	CombinedImuFactor	,
		PreintegratedMeasurements
	)

< Current estimate of acceleration and angular rate biases

Definition at line 55 of file testCombinedImuFactor.cpp.

TEST() [2/8]

TEST	(	CombinedImuFactor	,
		ErrorWithBiases
	)

Definition at line 83 of file testCombinedImuFactor.cpp.

TEST() [3/8]

TEST	(	CombinedImuFactor	,
		PredictPositionAndVelocity
	)

Definition at line 165 of file testCombinedImuFactor.cpp.

TEST() [4/8]

TEST	(	CombinedImuFactor	,
		PredictRotation
	)

Definition at line 194 of file testCombinedImuFactor.cpp.

TEST() [5/8]

TEST	(	CombinedImuFactor	,
		CheckCovariance
	)

Definition at line 216 of file testCombinedImuFactor.cpp.

TEST() [6/8]

TEST	(	CombinedImuFactor	,
		SameCovariance
	)

Definition at line 259 of file testCombinedImuFactor.cpp.

TEST() [7/8]

TEST	(	CombinedImuFactor	,
		Accelerating
	)

Definition at line 299 of file testCombinedImuFactor.cpp.

TEST() [8/8]

TEST	(	CombinedImuFactor	,
		ResetIntegration
	)

Definition at line 324 of file testCombinedImuFactor.cpp.