Unit tests for Linear Factor Graph. More...

#include <tests/smallExample.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianBayesTree.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h>
#include <string.h>
#include <iostream>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/sam/RangeFactor.h>

Include dependency graph for testGaussianFactorGraphB.cpp:

Go to the source code of this file.

Functions
double	error (const VectorValues &x)

int	main ()

void	print (vector< int > v)

	TEST (GaussianFactorGraph, equals)

	TEST (GaussianFactorGraph, error)

	TEST (GaussianFactorGraph, eliminateOne_x1)

	TEST (GaussianFactorGraph, eliminateOne_x2)

	TEST (GaussianFactorGraph, eliminateOne_l1)

	TEST (GaussianFactorGraph, eliminateOne_x1_fast)

	TEST (GaussianFactorGraph, eliminateOne_x2_fast)

	TEST (GaussianFactorGraph, eliminateOne_l1_fast)

	TEST (GaussianFactorGraph, copying)

	TEST (GaussianFactorGraph, CONSTRUCTOR_GaussianBayesNet)

	TEST (GaussianFactorGraph, optimize_Cholesky)

	TEST (GaussianFactorGraph, optimize_QR)

	TEST (GaussianFactorGraph, combine)

	TEST (GaussianFactorGraph, createSmoother)

	TEST (GaussianFactorGraph, multiplication)

	TEST (GaussianFactorGraph, elimination)

	TEST (GaussianFactorGraph, constrained_simple)

	TEST (GaussianFactorGraph, constrained_single)

	TEST (GaussianFactorGraph, constrained_multi1)

	TEST (GaussianFactorGraph, replace)

	TEST (GaussianFactorGraph, hasConstraints)

	TEST (GaussianFactorGraph, conditional_sigma_failure)

Variables
static auto	kUnit2 = noiseModel::Unit::Create(2)

static SharedDiagonal	model = noiseModel::Isotropic::Sigma(2,1)

double	tol =1e-5

Detailed Description

Unit tests for Linear Factor Graph.

Author: Christian Potthast

Definition in file testGaussianFactorGraphB.cpp.

Function Documentation

◆ error()

double error ( const VectorValues & x )

Definition at line 252 of file testGaussianFactorGraphB.cpp.

◆ main()

int main ( void )

Definition at line 450 of file testGaussianFactorGraphB.cpp.

◆ print()

void print ( vector< int > v )

Definition at line 238 of file testGaussianFactorGraphB.cpp.

◆ TEST() [1/22]

TEST	(	GaussianFactorGraph	,
		equals
	)

Definition at line 44 of file testGaussianFactorGraphB.cpp.

◆ TEST() [2/22]

TEST	(	GaussianFactorGraph	,
		error
	)

Definition at line 52 of file testGaussianFactorGraphB.cpp.

◆ TEST() [3/22]

TEST	(	GaussianFactorGraph	,
		eliminateOne_x1
	)

Definition at line 64 of file testGaussianFactorGraphB.cpp.

◆ TEST() [4/22]

TEST	(	GaussianFactorGraph	,
		eliminateOne_x2
	)

Definition at line 80 of file testGaussianFactorGraphB.cpp.

◆ TEST() [5/22]

TEST	(	GaussianFactorGraph	,
		eliminateOne_l1
	)

Definition at line 95 of file testGaussianFactorGraphB.cpp.

◆ TEST() [6/22]

TEST	(	GaussianFactorGraph	,
		eliminateOne_x1_fast
	)

Definition at line 110 of file testGaussianFactorGraphB.cpp.

◆ TEST() [7/22]

TEST	(	GaussianFactorGraph	,
		eliminateOne_x2_fast
	)

Definition at line 133 of file testGaussianFactorGraphB.cpp.

◆ TEST() [8/22]

TEST	(	GaussianFactorGraph	,
		eliminateOne_l1_fast
	)

Definition at line 147 of file testGaussianFactorGraphB.cpp.

◆ TEST() [9/22]

TEST	(	GaussianFactorGraph	,
		copying
	)

Definition at line 161 of file testGaussianFactorGraphB.cpp.

◆ TEST() [10/22]

TEST	(	GaussianFactorGraph	,
		CONSTRUCTOR_GaussianBayesNet
	)

Definition at line 179 of file testGaussianFactorGraphB.cpp.

◆ TEST() [11/22]

TEST	(	GaussianFactorGraph	,
		optimize_Cholesky
	)

Definition at line 192 of file testGaussianFactorGraphB.cpp.

◆ TEST() [12/22]

TEST	(	GaussianFactorGraph	,
		optimize_QR
	)

Definition at line 205 of file testGaussianFactorGraphB.cpp.

◆ TEST() [13/22]

TEST	(	GaussianFactorGraph	,
		combine
	)

Definition at line 219 of file testGaussianFactorGraphB.cpp.

◆ TEST() [14/22]

TEST	(	GaussianFactorGraph	,
		createSmoother
	)

Definition at line 244 of file testGaussianFactorGraphB.cpp.

◆ TEST() [15/22]

TEST	(	GaussianFactorGraph	,
		multiplication
	)

Definition at line 258 of file testGaussianFactorGraphB.cpp.

◆ TEST() [16/22]

TEST	(	GaussianFactorGraph	,
		elimination
	)

Definition at line 272 of file testGaussianFactorGraphB.cpp.

◆ TEST() [17/22]

TEST	(	GaussianFactorGraph	,
		constrained_simple
	)

Definition at line 300 of file testGaussianFactorGraphB.cpp.

◆ TEST() [18/22]

TEST	(	GaussianFactorGraph	,
		constrained_single
	)

Definition at line 314 of file testGaussianFactorGraphB.cpp.

◆ TEST() [19/22]

TEST	(	GaussianFactorGraph	,
		constrained_multi1
	)

Definition at line 328 of file testGaussianFactorGraphB.cpp.

◆ TEST() [20/22]

TEST	(	GaussianFactorGraph	,
		replace
	)

Definition at line 346 of file testGaussianFactorGraphB.cpp.

◆ TEST() [21/22]

TEST	(	GaussianFactorGraph	,
		hasConstraints
	)

Definition at line 374 of file testGaussianFactorGraphB.cpp.

◆ TEST() [22/22]

TEST	(	GaussianFactorGraph	,
		conditional_sigma_failure
	)

Definition at line 391 of file testGaussianFactorGraphB.cpp.

Variable Documentation

◆ kUnit2

auto kUnit2 = noiseModel::Unit::Create(2)

static

Definition at line 41 of file testGaussianFactorGraphB.cpp.

◆ model

SharedDiagonal model = noiseModel::Isotropic::Sigma(2,1)