Classes | Functions | Variables
testGaussianISAM2.cpp File Reference

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>
Include dependency graph for testGaussianISAM2.cpp:

Go to the source code of this file.

Classes

struct  ConsistencyVisitor
 

Functions

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), 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())
 

Detailed Description

Unit tests for GaussianISAM2.

Author
Michael Kaess

Definition in file testGaussianISAM2.cpp.

Function Documentation

◆ createSlamlikeISAM2()

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),
size_t  maxPoses = 10 
)

Definition at line 42 of file testGaussianISAM2.cpp.

◆ isam_check()

bool isam_check ( const NonlinearFactorGraph fullgraph,
const Values fullinit,
const ISAM2 isam,
Test test,
TestResult result 
)

Definition at line 221 of file testGaussianISAM2.cpp.

◆ main()

int main ( void  )

Definition at line 816 of file testGaussianISAM2.cpp.

◆ TEST() [1/18]

TEST ( ISAM2  ,
simple   
)

Definition at line 282 of file testGaussianISAM2.cpp.

◆ TEST() [2/18]

TEST ( ISAM2  ,
slamlike_solution_gaussnewton   
)

Definition at line 296 of file testGaussianISAM2.cpp.

◆ TEST() [3/18]

TEST ( ISAM2  ,
slamlike_solution_dogleg   
)

Definition at line 308 of file testGaussianISAM2.cpp.

◆ TEST() [4/18]

TEST ( ISAM2  ,
slamlike_solution_gaussnewton_qr   
)

Definition at line 320 of file testGaussianISAM2.cpp.

◆ TEST() [5/18]

TEST ( ISAM2  ,
slamlike_solution_dogleg_qr   
)

Definition at line 332 of file testGaussianISAM2.cpp.

◆ TEST() [6/18]

TEST ( ISAM2  ,
clone   
)

Definition at line 344 of file testGaussianISAM2.cpp.

◆ TEST() [7/18]

TEST ( ISAM2  ,
removeFactors   
)

Definition at line 378 of file testGaussianISAM2.cpp.

◆ TEST() [8/18]

TEST ( ISAM2  ,
removeVariables   
)

Definition at line 401 of file testGaussianISAM2.cpp.

◆ TEST() [9/18]

TEST ( ISAM2  ,
swapFactors   
)

Definition at line 424 of file testGaussianISAM2.cpp.

◆ TEST() [10/18]

TEST ( ISAM2  ,
constrained_ordering   
)

Definition at line 477 of file testGaussianISAM2.cpp.

◆ TEST() [11/18]

TEST ( ISAM2  ,
slamlike_solution_partial_relinearization_check   
)

Definition at line 601 of file testGaussianISAM2.cpp.

◆ TEST() [12/18]

TEST ( ISAM2  ,
marginalizeLeaves1   
)

Definition at line 663 of file testGaussianISAM2.cpp.

◆ TEST() [13/18]

TEST ( ISAM2  ,
marginalizeLeaves2   
)

Definition at line 689 of file testGaussianISAM2.cpp.

◆ TEST() [14/18]

TEST ( ISAM2  ,
marginalizeLeaves3   
)

Definition at line 719 of file testGaussianISAM2.cpp.

◆ TEST() [15/18]

TEST ( ISAM2  ,
marginalizeLeaves4   
)

Definition at line 758 of file testGaussianISAM2.cpp.

◆ TEST() [16/18]

TEST ( ISAM2  ,
marginalizeLeaves5   
)

Definition at line 783 of file testGaussianISAM2.cpp.

◆ TEST() [17/18]

TEST ( ISAM2  ,
marginalCovariance   
)

Definition at line 794 of file testGaussianISAM2.cpp.

◆ TEST() [18/18]

TEST ( ISAM2  ,
calculate_nnz   
)

Definition at line 806 of file testGaussianISAM2.cpp.

Variable Documentation

◆ brNoise

SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0, 0.1).finished())

Definition at line 40 of file testGaussianISAM2.cpp.

◆ model

const SharedNoiseModel model
static

Definition at line 32 of file testGaussianISAM2.cpp.

◆ odoNoise

SharedDiagonal odoNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.1, 0.1, M_PI/100.0).finished())

Definition at line 39 of file testGaussianISAM2.cpp.



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autogenerated on Tue Jul 4 2023 02:40:55