Unit test for ImuFactor. More...
#include <gtsam/navigation/ImuFactor.h>#include <gtsam/navigation/ScenarioRunner.h>#include <gtsam/geometry/Pose3.h>#include <gtsam/nonlinear/Values.h>#include <gtsam/nonlinear/factorTesting.h>#include <gtsam/linear/Sampler.h>#include <gtsam/base/TestableAssertions.h>#include <gtsam/base/numericalDerivative.h>#include <CppUnitLite/TestHarness.h>#include <list>#include "imuFactorTesting.h"#include <gtsam/nonlinear/NonlinearFactorGraph.h>#include <gtsam/slam/BetweenFactor.h>#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>#include <gtsam/nonlinear/Marginals.h>
Go to the source code of this file.
Namespaces | |
| common | |
| testing | |
Functions | |
| Vector3 | correctedAcc (const PreintegratedImuMeasurements &pim, const Vector3 &measuredAcc, const Vector3 &measuredOmega) |
| int | main () |
| static const Vector3 | common::measuredOmega (w, 0, 0) |
| static std::shared_ptr< PreintegrationParams > | testing::Params () |
| TEST (ImuFactor, PreintegratedMeasurementsConstruction) | |
| TEST (ImuFactor, PreintegratedMeasurementsReset) | |
| TEST (ImuFactor, Accelerating) | |
| TEST (ImuFactor, PreintegratedMeasurements) | |
| TEST (ImuFactor, PreintegrationBaseMethods) | |
| TEST (ImuFactor, MultipleMeasurements) | |
| TEST (ImuFactor, ErrorAndJacobians) | |
| TEST (ImuFactor, ErrorAndJacobianWithBiases) | |
| TEST (ImuFactor, ErrorAndJacobianWith2ndOrderCoriolis) | |
| TEST (ImuFactor, PartialDerivative_wrt_Bias) | |
| TEST (ImuFactor, PartialDerivativeLogmap) | |
| TEST (ImuFactor, fistOrderExponential) | |
| TEST (ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) | |
| TEST (ImuFactor, PredictPositionAndVelocity) | |
| TEST (ImuFactor, PredictRotation) | |
| TEST (ImuFactor, PredictArbitrary) | |
| TEST (ImuFactor, bodyPSensorNoBias) | |
| TEST (ImuFactor, bodyPSensorWithBias) | |
| TEST (ImuFactor, CheckCovariance) | |
| static const Vector3 | common::v1 (Vector3(0.5, 0.0, 0.0)) |
| static const Vector3 | common::v2 (Vector3(0.5, 0.0, 0.0)) |
Variables | |
| static const double | common::deltaT = 1.0 |
| static const Vector3 | common::measuredAcc |
| static const NavState | common::state1 (x1, v1) |
| static const NavState | common::state2 (x2, v2) |
| static const double | common::w = M_PI / 100 |
| static const Pose3 | common::x1 (Rot3::RzRyRx(M_PI/12.0, M_PI/6.0, M_PI/4.0), Point3(5.0, 1.0, 0)) |
| static const Pose3 | common::x2 (Rot3::RzRyRx(M_PI/12.0+w, M_PI/6.0, M_PI/4.0), Point3(5.5, 1.0, 0)) |
Detailed Description
Unit test for ImuFactor.
Definition in file testImuFactor.cpp.
Function Documentation
◆ correctedAcc()
| Vector3 correctedAcc | ( | const PreintegratedImuMeasurements & | pim, |
| const Vector3 & | measuredAcc, | ||
| const Vector3 & | measuredOmega | ||
| ) |
Definition at line 475 of file testImuFactor.cpp.
◆ main()
| int main | ( | void | ) |
Definition at line 929 of file testImuFactor.cpp.
◆ TEST() [1/19]
| TEST | ( | ImuFactor | , |
| PreintegratedMeasurementsConstruction | |||
| ) |
Definition at line 62 of file testImuFactor.cpp.
◆ TEST() [2/19]
| TEST | ( | ImuFactor | , |
| PreintegratedMeasurementsReset | |||
| ) |
Definition at line 72 of file testImuFactor.cpp.
◆ TEST() [3/19]
| TEST | ( | ImuFactor | , |
| Accelerating | |||
| ) |
Definition at line 97 of file testImuFactor.cpp.
◆ TEST() [4/19]
| TEST | ( | ImuFactor | , |
| PreintegratedMeasurements | |||
| ) |
Definition at line 120 of file testImuFactor.cpp.
◆ TEST() [5/19]
| TEST | ( | ImuFactor | , |
| PreintegrationBaseMethods | |||
| ) |
Definition at line 192 of file testImuFactor.cpp.
◆ TEST() [6/19]
| TEST | ( | ImuFactor | , |
| MultipleMeasurements | |||
| ) |
Definition at line 224 of file testImuFactor.cpp.
◆ TEST() [7/19]
| TEST | ( | ImuFactor | , |
| ErrorAndJacobians | |||
| ) |
Definition at line 243 of file testImuFactor.cpp.
◆ TEST() [8/19]
| TEST | ( | ImuFactor | , |
| ErrorAndJacobianWithBiases | |||
| ) |
Definition at line 309 of file testImuFactor.cpp.
◆ TEST() [9/19]
| TEST | ( | ImuFactor | , |
| ErrorAndJacobianWith2ndOrderCoriolis | |||
| ) |
Definition at line 355 of file testImuFactor.cpp.
◆ TEST() [10/19]
| TEST | ( | ImuFactor | , |
| PartialDerivative_wrt_Bias | |||
| ) |
Definition at line 394 of file testImuFactor.cpp.
◆ TEST() [11/19]
| TEST | ( | ImuFactor | , |
| PartialDerivativeLogmap | |||
| ) |
Definition at line 420 of file testImuFactor.cpp.
◆ TEST() [12/19]
| TEST | ( | ImuFactor | , |
| fistOrderExponential | |||
| ) |
Definition at line 443 of file testImuFactor.cpp.
◆ TEST() [13/19]
| TEST | ( | ImuFactor | , |
| ErrorWithBiasesAndSensorBodyDisplacement | |||
| ) |
Definition at line 482 of file testImuFactor.cpp.
◆ TEST() [14/19]
| TEST | ( | ImuFactor | , |
| PredictPositionAndVelocity | |||
| ) |
Definition at line 576 of file testImuFactor.cpp.
◆ TEST() [15/19]
| TEST | ( | ImuFactor | , |
| PredictRotation | |||
| ) |
Definition at line 605 of file testImuFactor.cpp.
◆ TEST() [16/19]
| TEST | ( | ImuFactor | , |
| PredictArbitrary | |||
| ) |
Definition at line 632 of file testImuFactor.cpp.
◆ TEST() [17/19]
| TEST | ( | ImuFactor | , |
| bodyPSensorNoBias | |||
| ) |
Definition at line 685 of file testImuFactor.cpp.
◆ TEST() [18/19]
| TEST | ( | ImuFactor | , |
| bodyPSensorWithBias | |||
| ) |
Definition at line 726 of file testImuFactor.cpp.
◆ TEST() [19/19]
| TEST | ( | ImuFactor | , |
| CheckCovariance | |||
| ) |
Definition at line 906 of file testImuFactor.cpp.