testExpression.cpp File Reference

unit tests for Block Automatic Differentiation More...

#include <gtsam/nonlinear/expressions.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testExpression.cpp:

Go to the source code of this file.

Classes
class	Class
struct	gtsam::traits< Class >

Namespaces
	binary
	gtsam
	traits
	tree
	unary

Typedefs
typedef Expression< Point3 >	Point3_
typedef Expression< Pose3 >	Pose3_
typedef Expression< Rot3 >	Rot3_

Functions
Rot3	composeThree (const Rot3 &R1, const Rot3 &R2, const Rot3 &R3, OptionalJacobian< 3, 3 > H1, OptionalJacobian< 3, 3 > H2, OptionalJacobian< 3, 3 > H3)
double	binary::doubleF (const Pose3 &pose, const Point3 &point, OptionalJacobian< 1, 6 > H1, OptionalJacobian< 1, 3 > H2)
Point2	unary::f1 (const Point3 &p, OptionalJacobian< 2, 3 > H)
double	unary::f2 (const Point3 &p, OptionalJacobian< 1, 3 > H)
Vector	unary::f3 (const Point3 &p, OptionalJacobian< Eigen::Dynamic, 3 > H)
int	main ()
	TEST (Expression, Constant)
	TEST (Expression, Leaf)
	TEST (Expression, Leaves)
	TEST (Expression, Unary1)
	TEST (Expression, Unary2)
	TEST (Expression, Unary3)
	TEST (Expression, NullaryMethod)
	TEST (Expression, BinaryToDouble)
	TEST (Expression, BinaryKeys)
	TEST (Expression, BinaryDimensions)
	TEST (Expression, BinaryTraceSize)
	TEST (Expression, TreeKeys)
	TEST (Expression, TreeDimensions)
	TEST (Expression, TreeTraceSize)
	TEST (Expression, compose1)
	TEST (Expression, compose2)
	TEST (Expression, compose3)
	TEST (Expression, compose4)
	TEST (Expression, ternary)
	TEST (Expression, ScalarMultiply)
	TEST (Expression, BinarySum)
	TEST (Expression, TripleSum)
	TEST (Expression, PlusEqual)
	TEST (Expression, SumOfUnaries)
	TEST (Expression, UnaryOfSum)
	TEST (Expression, WeightedSum)
	TEST (Expression, Subtract)
	TEST (Expression, LinearExpression)
template<class CAL >
Point2	uncalibrate (const CAL &K, const Point2 &p, OptionalJacobian< 2, 5 > Dcal, OptionalJacobian< 2, 2 > Dp)

Variables
const set< Key >	unary::expected {1}
Point2(*	tree::f )(const Point3 &, OptionalJacobian< 2, 3 >) = &PinholeBase::Project
Expression< Cal3_S2 >	tree::K (3)
Point3_	binary::p (2)
Point3_	binary::p_cam (x, &Pose3::transformTo, p)
Point3_	unary::pointExpression (1)
Expression< Point2 >	tree::projection (f, p_cam)
static const Rot3	someR = Rot3::RzRyRx(1, 2, 3)
Expression< Point2 >	tree::uv_hat (uncalibrate< Cal3_S2 >, K, projection)
Pose3_	binary::x (1)

Detailed Description

unit tests for Block Automatic Differentiation

Date

September 18, 2014

Author

Frank Dellaert

Paul Furgale

Definition in file testExpression.cpp.

Typedef Documentation

Point3_

typedef Expression<Point3> Point3_

Definition at line 31 of file testExpression.cpp.

Pose3_

typedef Expression<Pose3> Pose3_

Definition at line 32 of file testExpression.cpp.

Rot3_

typedef Expression<Rot3> Rot3_

Definition at line 33 of file testExpression.cpp.

Function Documentation

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 307 of file testExpression.cpp.

main()

int main

(

void

)

Definition at line 542 of file testExpression.cpp.

TEST() [1/28]

TEST	(	Expression	,
		Constant
	)

Definition at line 46 of file testExpression.cpp.

TEST() [2/28]

TEST	(	Expression	,
		Leaf
	)

Definition at line 56 of file testExpression.cpp.

TEST() [3/28]

TEST	(	Expression	,
		Leaves
	)

Definition at line 68 of file testExpression.cpp.

TEST() [4/28]

TEST	(	Expression	,
		Unary1
	)

Definition at line 93 of file testExpression.cpp.

TEST() [5/28]

TEST	(	Expression	,
		Unary2
	)

Definition at line 100 of file testExpression.cpp.

TEST() [6/28]

TEST	(	Expression	,
		Unary3
	)

Definition at line 107 of file testExpression.cpp.

TEST() [7/28]

TEST	(	Expression	,
		NullaryMethod
	)

Definition at line 136 of file testExpression.cpp.

TEST() [8/28]

TEST	(	Expression	,
		BinaryToDouble
	)

Definition at line 181 of file testExpression.cpp.

TEST() [9/28]

TEST	(	Expression	,
		BinaryKeys
	)

Definition at line 188 of file testExpression.cpp.

TEST() [10/28]

TEST	(	Expression	,
		BinaryDimensions
	)

Definition at line 195 of file testExpression.cpp.

TEST() [11/28]

TEST	(	Expression	,
		BinaryTraceSize
	)

Definition at line 203 of file testExpression.cpp.

TEST() [12/28]

TEST	(	Expression	,
		TreeKeys
	)

Definition at line 225 of file testExpression.cpp.

TEST() [13/28]

TEST	(	Expression	,
		TreeDimensions
	)

Definition at line 232 of file testExpression.cpp.

TEST() [14/28]

TEST	(	Expression	,
		TreeTraceSize
	)

Definition at line 240 of file testExpression.cpp.

TEST() [15/28]

TEST	(	Expression	,
		compose1
	)

Definition at line 258 of file testExpression.cpp.

TEST() [16/28]

TEST	(	Expression	,
		compose2
	)

Definition at line 270 of file testExpression.cpp.

TEST() [17/28]

TEST	(	Expression	,
		compose3
	)

Definition at line 282 of file testExpression.cpp.

TEST() [18/28]

TEST	(	Expression	,
		compose4
	)

Definition at line 294 of file testExpression.cpp.

TEST() [19/28]

TEST	(	Expression	,
		ternary
	)

Definition at line 319 of file testExpression.cpp.

TEST() [20/28]

TEST	(	Expression	,
		ScalarMultiply
	)

Definition at line 331 of file testExpression.cpp.

TEST() [21/28]

TEST	(	Expression	,
		BinarySum
	)

Definition at line 362 of file testExpression.cpp.

TEST() [22/28]

TEST	(	Expression	,
		TripleSum
	)

Definition at line 393 of file testExpression.cpp.

TEST() [23/28]

TEST	(	Expression	,
		PlusEqual
	)

Definition at line 415 of file testExpression.cpp.

TEST() [24/28]

TEST	(	Expression	,
		SumOfUnaries
	)

Definition at line 438 of file testExpression.cpp.

TEST() [25/28]

TEST	(	Expression	,
		UnaryOfSum
	)

Definition at line 456 of file testExpression.cpp.

TEST() [26/28]

TEST	(	Expression	,
		WeightedSum
	)

Definition at line 480 of file testExpression.cpp.

TEST() [27/28]

TEST	(	Expression	,
		Subtract
	)

Definition at line 505 of file testExpression.cpp.

TEST() [28/28]

TEST	(	Expression	,
		LinearExpression
	)

Definition at line 522 of file testExpression.cpp.

uncalibrate()

template<class CAL >

Point2 uncalibrate	(	const CAL &	K,
		const Point2 &	p,
		OptionalJacobian< 2, 5 >	Dcal,
		OptionalJacobian< 2, 2 >	Dp
	)

Definition at line 37 of file testExpression.cpp.

Variable Documentation

someR

const Rot3 someR = Rot3::RzRyRx(1, 2, 3)

static

Definition at line 42 of file testExpression.cpp.