testHybridNonlinearFactorGraph.cpp File Reference

Unit tests for HybridNonlinearFactorGraph. More...

#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/utilities.h>
#include <gtsam/discrete/DiscreteBayesNet.h>
#include <gtsam/discrete/DiscreteDistribution.h>
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/hybrid/HybridEliminationTree.h>
#include <gtsam/hybrid/HybridFactor.h>
#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
#include <gtsam/hybrid/MixtureFactor.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <numeric>
#include "Switching.h"
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testHybridNonlinearFactorGraph.cpp:

Go to the source code of this file.

Functions
GaussianFactorGraph::shared_ptr	batchGFG (double between, Values linearizationPoint)
int	main ()
	TEST (HybridFactorGraph, GaussianFactorGraph)
	TEST (HybridNonlinearFactorGraph, Equals)
	TEST (HybridNonlinearFactorGraph, Resize)
	TEST (HybridGaussianFactorGraph, Resize)
	TEST (HybridGaussianFactorGraph, MixtureFactor)
	TEST (HybridFactorGraph, PushBack)
	TEST (HybridFactorGraph, Switching)
	TEST (HybridFactorGraph, Linearization)
	TEST (HybridFactorGraph, EliminationTree)
	TEST (GaussianElimination, Eliminate_x0)
	TEST (HybridsGaussianElimination, Eliminate_x1)
	TEST (HybridGaussianElimination, EliminateHybrid_2_Variable)
	TEST (HybridFactorGraph, Partial_Elimination)
	TEST (HybridFactorGraph, Full_Elimination)
	TEST (HybridFactorGraph, Printing)
	TEST (HybridFactorGraph, DefaultDecisionTree)

Detailed Description

Unit tests for HybridNonlinearFactorGraph.

Author

Varun Agrawal

Fan Jiang

Frank Dellaert

Date

December 2021

Definition in file testHybridNonlinearFactorGraph.cpp.

Function Documentation

batchGFG()

GaussianFactorGraph::shared_ptr batchGFG	(	double	between,
		Values	linearizationPoint
	)

Definition at line 325 of file testHybridNonlinearFactorGraph.cpp.

main()

int main

(

void

)

Definition at line 716 of file testHybridNonlinearFactorGraph.cpp.

TEST() [1/16]

TEST	(	HybridFactorGraph	,
		GaussianFactorGraph
	)

Definition at line 53 of file testHybridNonlinearFactorGraph.cpp.

TEST() [2/16]

TEST	(	HybridNonlinearFactorGraph	,
		Equals
	)

Definition at line 76 of file testHybridNonlinearFactorGraph.cpp.

TEST() [3/16]

TEST	(	HybridNonlinearFactorGraph	,
		Resize
	)

Definition at line 100 of file testHybridNonlinearFactorGraph.cpp.

TEST() [4/16]

TEST	(	HybridGaussianFactorGraph	,
		Resize
	)

Definition at line 121 of file testHybridNonlinearFactorGraph.cpp.

TEST() [5/16]

TEST	(	HybridGaussianFactorGraph	,
		MixtureFactor
	)

Definition at line 156 of file testHybridNonlinearFactorGraph.cpp.

TEST() [6/16]

TEST	(	HybridFactorGraph	,
		PushBack
	)

Definition at line 181 of file testHybridNonlinearFactorGraph.cpp.

TEST() [7/16]

TEST	(	HybridFactorGraph	,
		Switching
	)

Definition at line 240 of file testHybridNonlinearFactorGraph.cpp.

TEST() [8/16]

TEST	(	HybridFactorGraph	,
		Linearization
	)

Definition at line 250 of file testHybridNonlinearFactorGraph.cpp.

TEST() [9/16]

TEST	(	HybridFactorGraph	,
		EliminationTree
	)

Definition at line 263 of file testHybridNonlinearFactorGraph.cpp.

TEST() [10/16]

TEST	(	GaussianElimination	,
		Eliminate_x0
	)

Definition at line 278 of file testHybridNonlinearFactorGraph.cpp.

TEST() [11/16]

TEST	(	HybridsGaussianElimination	,
		Eliminate_x1
	)

Definition at line 303 of file testHybridNonlinearFactorGraph.cpp.

TEST() [12/16]

TEST	(	HybridGaussianElimination	,
		EliminateHybrid_2_Variable
	)

Definition at line 341 of file testHybridNonlinearFactorGraph.cpp.

TEST() [13/16]

TEST	(	HybridFactorGraph	,
		Partial_Elimination
	)

Definition at line 371 of file testHybridNonlinearFactorGraph.cpp.

TEST() [14/16]

TEST	(	HybridFactorGraph	,
		Full_Elimination
	)

Definition at line 403 of file testHybridNonlinearFactorGraph.cpp.

TEST() [15/16]

TEST	(	HybridFactorGraph	,
		Printing
	)

Definition at line 471 of file testHybridNonlinearFactorGraph.cpp.

TEST() [16/16]

TEST	(	HybridFactorGraph	,
		DefaultDecisionTree
	)

Definition at line 658 of file testHybridNonlinearFactorGraph.cpp.