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testFrobeniusFactor.cpp File Reference

Check evaluateError for various Frobenius norm. More...

#include <gtsam/base/lieProxies.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/SO3.h>
#include <gtsam/geometry/SO4.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/slam/FrobeniusFactor.h>
#include <CppUnitLite/TestHarness.h>
Include dependency graph for testFrobeniusFactor.cpp:

Go to the source code of this file.

Namespaces

 so3
 
 so4
 

Functions

int main ()
 
 TEST (FrobeniusPriorSO3, evaluateError)
 
 TEST (FrobeniusPriorSO3, ClosestTo)
 
 TEST (FrobeniusPriorSO3, ChordalL2mean)
 
 TEST (FrobeniusFactorSO3, evaluateError)
 
 TEST (FrobeniusBetweenFactorSO3, evaluateError)
 
 TEST (FrobeniusFactorSO4, evaluateError)
 
 TEST (FrobeniusBetweenFactorSO4, evaluateError)
 

Variables

SO4 so4::id
 
SO4 so4::Q1 = SO4::Expmap(v1)
 
SO4 so4::Q2 = SO4::Expmap(v2)
 
Vector6 so4::v1 = (Vector(6) << 0.1, 0, 0, 0, 0, 0).finished()
 
Vector6 so4::v2 = (Vector(6) << 0.01, 0.02, 0.03, 0.04, 0.05, 0.06).finished()
 

Detailed Description

Check evaluateError for various Frobenius norm.

testFrobeniusFactor.cpp

Date
March 2019
Author
Frank Dellaert

Definition in file testFrobeniusFactor.cpp.

Function Documentation

◆ main()

int main ( void  )

Definition at line 192 of file testFrobeniusFactor.cpp.

◆ TEST() [1/7]

TEST ( FrobeniusPriorSO3  ,
evaluateError   
)

Definition at line 47 of file testFrobeniusFactor.cpp.

◆ TEST() [2/7]

TEST ( FrobeniusPriorSO3  ,
ClosestTo   
)

Definition at line 60 of file testFrobeniusFactor.cpp.

◆ TEST() [3/7]

TEST ( FrobeniusPriorSO3  ,
ChordalL2mean   
)

Definition at line 81 of file testFrobeniusFactor.cpp.

◆ TEST() [4/7]

TEST ( FrobeniusFactorSO3  ,
evaluateError   
)

Definition at line 107 of file testFrobeniusFactor.cpp.

◆ TEST() [5/7]

TEST ( FrobeniusBetweenFactorSO3  ,
evaluateError   
)

Definition at line 138 of file testFrobeniusFactor.cpp.

◆ TEST() [6/7]

TEST ( FrobeniusFactorSO4  ,
evaluateError   
)

Definition at line 161 of file testFrobeniusFactor.cpp.

◆ TEST() [7/7]

TEST ( FrobeniusBetweenFactorSO4  ,
evaluateError   
)

Definition at line 175 of file testFrobeniusFactor.cpp.



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autogenerated on Tue Jul 4 2023 02:40:55