Unit tests for GaussianISAM2. More...
#include <gtsam/nonlinear/ISAM2.h>
#include <tests/smallExample.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianBayesTree.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/inference/Ordering.h>
#include <gtsam/base/debug.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/treeTraversal-inst.h>
#include <CppUnitLite/TestHarness.h>
Go to the source code of this file.
Classes | |
struct | ConsistencyVisitor |
Functions | |
ISAM2 | createSlamlikeISAM2 (Values *init_values=nullptr, NonlinearFactorGraph *full_graph=nullptr, const ISAM2Params ¶ms=ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, true, ISAM2Params::CHOLESKY, true, DefaultKeyFormatter, true), size_t maxPoses=10) |
bool | isam_check (const NonlinearFactorGraph &fullgraph, const Values &fullinit, const ISAM2 &isam, Test &test, TestResult &result) |
int | main () |
TEST (ISAM2, simple) | |
TEST (ISAM2, slamlike_solution_gaussnewton) | |
TEST (ISAM2, slamlike_solution_dogleg) | |
TEST (ISAM2, slamlike_solution_gaussnewton_qr) | |
TEST (ISAM2, slamlike_solution_dogleg_qr) | |
TEST (ISAM2, clone) | |
TEST (ISAM2, removeFactors) | |
TEST (ISAM2, removeVariables) | |
TEST (ISAM2, swapFactors) | |
TEST (ISAM2, constrained_ordering) | |
TEST (ISAM2, slamlike_solution_partial_relinearization_check) | |
TEST (ISAM2, marginalizeLeaves1) | |
TEST (ISAM2, marginalizeLeaves2) | |
TEST (ISAM2, marginalizeLeaves3) | |
TEST (ISAM2, marginalizeLeaves4) | |
TEST (ISAM2, marginalizeLeaves5) | |
TEST (ISAM2, marginalCovariance) | |
TEST (ISAM2, calculate_nnz) | |
Variables | |
SharedDiagonal | brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0, 0.1).finished()) |
static const SharedNoiseModel | model |
SharedDiagonal | odoNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.1, 0.1, M_PI/100.0).finished()) |
Unit tests for GaussianISAM2.
Definition in file testGaussianISAM2.cpp.
ISAM2 createSlamlikeISAM2 | ( | Values * | init_values = nullptr , |
NonlinearFactorGraph * | full_graph = nullptr , |
||
const ISAM2Params & | params = ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, true, ISAM2Params::CHOLESKY, true, DefaultKeyFormatter, true) , |
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size_t | maxPoses = 10 |
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) |
Definition at line 42 of file testGaussianISAM2.cpp.
bool isam_check | ( | const NonlinearFactorGraph & | fullgraph, |
const Values & | fullinit, | ||
const ISAM2 & | isam, | ||
Test & | test, | ||
TestResult & | result | ||
) |
Definition at line 221 of file testGaussianISAM2.cpp.
int main | ( | void | ) |
Definition at line 816 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
simple | |||
) |
Definition at line 282 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
slamlike_solution_gaussnewton | |||
) |
Definition at line 296 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
slamlike_solution_dogleg | |||
) |
Definition at line 308 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
slamlike_solution_gaussnewton_qr | |||
) |
Definition at line 320 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
slamlike_solution_dogleg_qr | |||
) |
Definition at line 332 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
clone | |||
) |
Definition at line 344 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
removeFactors | |||
) |
Definition at line 378 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
removeVariables | |||
) |
Definition at line 401 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
swapFactors | |||
) |
Definition at line 424 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
constrained_ordering | |||
) |
Definition at line 477 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
slamlike_solution_partial_relinearization_check | |||
) |
Definition at line 601 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
marginalizeLeaves1 | |||
) |
Definition at line 663 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
marginalizeLeaves2 | |||
) |
Definition at line 689 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
marginalizeLeaves3 | |||
) |
Definition at line 719 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
marginalizeLeaves4 | |||
) |
Definition at line 758 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
marginalizeLeaves5 | |||
) |
Definition at line 783 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
marginalCovariance | |||
) |
Definition at line 794 of file testGaussianISAM2.cpp.
TEST | ( | ISAM2 | , |
calculate_nnz | |||
) |
Definition at line 806 of file testGaussianISAM2.cpp.
SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0, 0.1).finished()) |
Definition at line 40 of file testGaussianISAM2.cpp.
|
static |
Definition at line 32 of file testGaussianISAM2.cpp.
SharedDiagonal odoNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.1, 0.1, M_PI/100.0).finished()) |
Definition at line 39 of file testGaussianISAM2.cpp.