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:

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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.