Functions | Variables
testIMUSystem.cpp File Reference
#include <iostream>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/sam/RangeFactor.h>
#include <gtsam_unstable/slam/PartialPriorFactor.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam_unstable/dynamics/IMUFactor.h>
#include <gtsam_unstable/dynamics/FullIMUFactor.h>
#include <gtsam_unstable/dynamics/VelocityConstraint.h>
#include <gtsam_unstable/dynamics/DynamicsPriors.h>
Include dependency graph for testIMUSystem.cpp:

Go to the source code of this file.

Functions

int main ()
 
 TEST (testIMUSystem, instantiations)
 
 TEST (testIMUSystem, optimize_chain)
 
 TEST (testIMUSystem, optimize_chain_fullfactor)
 
 TEST (testIMUSystem, linear_trajectory)
 

Variables

static const Vector g = Vector::Unit(3,2)*(-9.81)
 
const double tol =1e-5
 
static const Key x0 = 0
 
static const Key x1 = 1
 
static const Key x2 = 2
 
static const Key x3 = 3
 
static const Key x4 = 4
 

Function Documentation

◆ main()

int main ( void  )

Definition at line 176 of file testIMUSystem.cpp.

◆ TEST() [1/4]

TEST ( testIMUSystem  ,
instantiations   
)

Definition at line 32 of file testIMUSystem.cpp.

◆ TEST() [2/4]

TEST ( testIMUSystem  ,
optimize_chain   
)

Definition at line 55 of file testIMUSystem.cpp.

◆ TEST() [3/4]

TEST ( testIMUSystem  ,
optimize_chain_fullfactor   
)

Definition at line 101 of file testIMUSystem.cpp.

◆ TEST() [4/4]

TEST ( testIMUSystem  ,
linear_trajectory   
)

Definition at line 146 of file testIMUSystem.cpp.

Variable Documentation

◆ g

const Vector g = Vector::Unit(3,2)*(-9.81)
static

Definition at line 29 of file testIMUSystem.cpp.

◆ tol

const double tol =1e-5

Definition at line 26 of file testIMUSystem.cpp.

◆ x0

const Key x0 = 0
static

Definition at line 28 of file testIMUSystem.cpp.

◆ x1

const Key x1 = 1
static

Definition at line 28 of file testIMUSystem.cpp.

◆ x2

const Key x2 = 2
static

Definition at line 28 of file testIMUSystem.cpp.

◆ x3

const Key x3 = 3
static

Definition at line 28 of file testIMUSystem.cpp.

◆ x4

const Key x4 = 4
static

Definition at line 28 of file testIMUSystem.cpp.



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autogenerated on Tue Jul 4 2023 02:40:55