unit tests for Block Automatic Differentiation More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/slam/expressions.h>

Include dependency graph for testExpressionFactor.cpp:

Go to the source code of this file.

Classes
struct	Combine

struct	leaf::MyValues

class	TestNaryFactor

Namespaces
	leaf

	test_operator

Typedefs
typedef Eigen::Matrix< double, 9, 9 >	Matrix9

typedef Eigen::Matrix< double, 9, 3 >	Matrix93

Functions
static double	combine3 (const double &x, const double &y, const double &z, OptionalJacobian< 1, 1 > H1, OptionalJacobian< 1, 1 > H2, OptionalJacobian< 1, 1 > H3)

Rot3	composeThree (const Rot3 &R1, const Rot3 &R2, const Rot3 &R3, OptionalJacobian< 3, 3 > H1, OptionalJacobian< 3, 3 > H2, OptionalJacobian< 3, 3 > H3)

Vector3	test_operator::f (const Point2 &a, const Vector3 &b, OptionalJacobian< 3, 2 > H1, OptionalJacobian< 3, 3 > H2)

Vector9	id9 (const Vector9 &v, OptionalJacobian< 9, 9 > H)

int	main ()

Point2	measured (-17, 30)

static Point2	myUncal (const Cal3_S2 &K, const Point2 &p, OptionalJacobian< 2, 5 > Dcal, OptionalJacobian< 2, 2 > Dp)

	TEST (ExpressionFactor, Leaf)

	TEST (ExpressionFactor, Model)

	TEST (ExpressionFactor, Constrained)

	TEST (ExpressionFactor, Unary)

	TEST (ExpressionFactor, Wide)

	TEST (ExpressionFactor, Binary)

	TEST (ExpressionFactor, Shallow)

	TEST (ExpressionFactor, tree)

	TEST (ExpressionFactor, Compose1)

	TEST (ExpressionFactor, compose2)

	TEST (ExpressionFactor, compose3)

	TEST (ExpressionFactor, composeTernary)

	TEST (ExpressionFactor, tree_finite_differences)

	TEST (ExpressionFactor, push_back)

	TEST (Expression, testMultipleCompositions)

	TEST (Expression, testMultipleCompositions2)

	TEST (ExpressionFactor, MultiplyWithInverse)

	TEST (ExpressionFactor, MultiplyWithInverseFunction)

	TEST (ExpressionFactor, variadicTemplate)

	TEST (ExpressionFactor, normalize)

	TEST (ExpressionFactor, crossProduct)

	TEST (ExpressionFactor, dotProduct)

Vector9	wide (const Point3 &p, OptionalJacobian< 9, 3 > H)

Variables
SharedNoiseModel	model = noiseModel::Unit::Create(2)

Point2_	leaf::p (2)

Point2(*	Project )(const Point3 &, OptionalJacobian< 2, 3 >) = &PinholeBase::Project

leaf::MyValues	leaf::values

Detailed Description

unit tests for Block Automatic Differentiation

Date: September 18, 2014

Author: Frank Dellaert; Paul Furgale

Definition in file testExpressionFactor.cpp.

Typedef Documentation

◆ Matrix9

typedef Eigen::Matrix<double,9,9> Matrix9

Definition at line 146 of file testExpressionFactor.cpp.

◆ Matrix93

typedef Eigen::Matrix<double,9,3> Matrix93

Definition at line 138 of file testExpressionFactor.cpp.

Function Documentation

◆ combine3()

static double combine3	(	const double &	x,
		const double &	y,
		const double &	z,
		OptionalJacobian< 1, 1 >	H1,
		OptionalJacobian< 1, 1 >	H2,
		OptionalJacobian< 1, 1 >	H3
	)

static

Definition at line 530 of file testExpressionFactor.cpp.

◆ composeThree()

Rot3 composeThree	(	const Rot3 &	R1,
		const Rot3 &	R2,
		const Rot3 &	R3,
		OptionalJacobian< 3, 3 >	H1,
		OptionalJacobian< 3, 3 >	H2,
		OptionalJacobian< 3, 3 >	H3
	)

Definition at line 403 of file testExpressionFactor.cpp.

◆ id9()

Vector9 id9	(	const Vector9 &	v,
		OptionalJacobian< 9, 9 >	H
	)

Definition at line 147 of file testExpressionFactor.cpp.

◆ main()

int main ( void )

Definition at line 775 of file testExpressionFactor.cpp.

◆ measured()

Point2 measured	(	-	17,
		30
	)

◆ myUncal()

static Point2 myUncal	(	const Cal3_S2 &	K,
		const Point2 &	p,
		OptionalJacobian< 2, 5 >	Dcal,
		OptionalJacobian< 2, 2 >	Dp
	)

static

Definition at line 171 of file testExpressionFactor.cpp.

◆ TEST() [1/22]

TEST	(	ExpressionFactor	,
		Leaf
	)

Definition at line 56 of file testExpressionFactor.cpp.

◆ TEST() [2/22]

TEST	(	ExpressionFactor	,
		Model
	)

Definition at line 74 of file testExpressionFactor.cpp.

◆ TEST() [3/22]

TEST	(	ExpressionFactor	,
		Constrained
	)

Definition at line 95 of file testExpressionFactor.cpp.

◆ TEST() [4/22]

TEST	(	ExpressionFactor	,
		Unary
	)

Definition at line 113 of file testExpressionFactor.cpp.

◆ TEST() [5/22]

TEST	(	ExpressionFactor	,
		Wide
	)

Definition at line 152 of file testExpressionFactor.cpp.

◆ TEST() [6/22]

TEST	(	ExpressionFactor	,
		Binary
	)

Definition at line 177 of file testExpressionFactor.cpp.

◆ TEST() [7/22]

TEST	(	ExpressionFactor	,
		Shallow
	)

Definition at line 212 of file testExpressionFactor.cpp.

◆ TEST() [8/22]

TEST	(	ExpressionFactor	,
		tree
	)

Definition at line 268 of file testExpressionFactor.cpp.

◆ TEST() [9/22]

TEST	(	ExpressionFactor	,
		Compose1
	)

Definition at line 315 of file testExpressionFactor.cpp.

◆ TEST() [10/22]

TEST	(	ExpressionFactor	,
		compose2
	)

Definition at line 345 of file testExpressionFactor.cpp.

◆ TEST() [11/22]

TEST	(	ExpressionFactor	,
		compose3
	)

Definition at line 374 of file testExpressionFactor.cpp.

◆ TEST() [12/22]

TEST	(	ExpressionFactor	,
		composeTernary
	)

Definition at line 415 of file testExpressionFactor.cpp.

◆ TEST() [13/22]

TEST	(	ExpressionFactor	,
		tree_finite_differences
	)

Definition at line 446 of file testExpressionFactor.cpp.

◆ TEST() [14/22]

TEST	(	ExpressionFactor	,
		push_back
	)

Definition at line 469 of file testExpressionFactor.cpp.

◆ TEST() [15/22]

TEST	(	Expression	,
		testMultipleCompositions
	)

Definition at line 487 of file testExpressionFactor.cpp.

◆ TEST() [16/22]

TEST	(	Expression	,
		testMultipleCompositions2
	)

Definition at line 539 of file testExpressionFactor.cpp.

◆ TEST() [17/22]

TEST	(	ExpressionFactor	,
		MultiplyWithInverse
	)

Definition at line 571 of file testExpressionFactor.cpp.

◆ TEST() [18/22]

TEST	(	ExpressionFactor	,
		MultiplyWithInverseFunction
	)

Definition at line 604 of file testExpressionFactor.cpp.

◆ TEST() [19/22]

TEST	(	ExpressionFactor	,
		variadicTemplate
	)

Definition at line 704 of file testExpressionFactor.cpp.

◆ TEST() [20/22]

TEST	(	ExpressionFactor	,
		normalize
	)

Definition at line 727 of file testExpressionFactor.cpp.

◆ TEST() [21/22]

TEST	(	ExpressionFactor	,
		crossProduct
	)

Definition at line 741 of file testExpressionFactor.cpp.

◆ TEST() [22/22]

TEST	(	ExpressionFactor	,
		dotProduct
	)

Definition at line 757 of file testExpressionFactor.cpp.

◆ wide()

Vector9 wide	(	const Point3 &	p,
		OptionalJacobian< 9, 3 >	H
	)

Definition at line 139 of file testExpressionFactor.cpp.

Variable Documentation

◆ model

SharedNoiseModel model = noiseModel::Unit::Create(2)

Definition at line 36 of file testExpressionFactor.cpp.

◆ Project

Point2(* Project) (const Point3 &, OptionalJacobian< 2, 3 >) = &PinholeBase::Project

Definition at line 40 of file testExpressionFactor.cpp.

Classes

Namespaces

Typedefs

Functions

Variables