testFactorTesting.cpp File Reference

unit tests for testFactorJacobians and testExpressionJacobians More...

#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <gtsam/slam/expressions.h>
#include <CppUnitLite/TestHarness.h>

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Classes
class	ScaledVelocityFunctor

Functions
Vector3	bodyVelocity (const Pose3 &w_t_b, const Vector3 &vec_w, OptionalJacobian< 3, 6 > Hpose={}, OptionalJacobian< 3, 3 > Hvel={})
int	main ()
	TEST (ExpressionTesting, Issue16)

Detailed Description

unit tests for testFactorJacobians and testExpressionJacobians

Date

September 18, 2014

Author

Brice Rebsamen

Definition in file testFactorTesting.cpp.

Function Documentation

bodyVelocity()

Vector3 bodyVelocity	(	const Pose3 &	w_t_b,
		const Vector3 &	vec_w,
		OptionalJacobian< 3, 6 >	Hpose = {},
		OptionalJacobian< 3, 3 >	Hvel = {}
	)

Definition at line 29 of file testFactorTesting.cpp.

main()

int main

(

void

)

Definition at line 102 of file testFactorTesting.cpp.

TEST()

TEST	(	ExpressionTesting	,
		Issue16
	)

Definition at line 69 of file testFactorTesting.cpp.