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()) |
Detailed Description
Unit tests for GaussianISAM2.
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
|
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.