testInertialNavFactor_GlobalVelocity.cpp File Reference

Unit test for the InertialNavFactor_GlobalVelocity. More...

#include <iostream>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/inference/Key.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/TestableAssertions.h>

Include dependency graph for testInertialNavFactor_GlobalVelocity.cpp:

Go to the source code of this file.

Functions
static const Vector3	ECEF_omega_earth (0.0, 0.0, 7.292115e-5)
int	main ()
Pose3	predictionErrorPose (const Pose3 &p1, const Vector3 &v1, const imuBias::ConstantBias &b1, const Pose3 &p2, const Vector3 &v2, const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &factor)
Vector	predictionErrorVel (const Pose3 &p1, const Vector3 &v1, const imuBias::ConstantBias &b1, const Pose3 &p2, const Vector3 &v2, const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &factor)
	TEST (InertialNavFactor_GlobalVelocity, Constructor)
	TEST (InertialNavFactor_GlobalVelocity, Equals)
	TEST (InertialNavFactor_GlobalVelocity, Predict)
	TEST (InertialNavFactor_GlobalVelocity, ErrorPosVel)
	TEST (InertialNavFactor_GlobalVelocity, ErrorRot)
	TEST (InertialNavFactor_GlobalVelocity, ErrorRotPosVel)
	TEST (InertialNavFactor_GlobalVelocity, Jacobian)
	TEST (InertialNavFactor_GlobalVelocity, ConstructorWithTransform)
	TEST (InertialNavFactor_GlobalVelocity, EqualsWithTransform)
	TEST (InertialNavFactor_GlobalVelocity, PredictWithTransform)
	TEST (InertialNavFactor_GlobalVelocity, ErrorPosVelWithTransform)
	TEST (InertialNavFactor_GlobalVelocity, ErrorRotWithTransform)
	TEST (InertialNavFactor_GlobalVelocity, ErrorRotPosVelWithTransform)
	TEST (InertialNavFactor_GlobalVelocity, JacobianWithTransform)
static const Vector3	world_g (0.0, 0.0, 9.81)
static const Vector3	world_rho (0.0, -1.5724e-05, 0.0)

Variables
static const Vector3	world_omega_earth
Rot3	world_R_ECEF (0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471)

Detailed Description

Unit test for the InertialNavFactor_GlobalVelocity.

Author

Vadim Indelman, Stephen Williams

Definition in file testInertialNavFactor_GlobalVelocity.cpp.

Function Documentation

ECEF_omega_earth()

static const Vector3 ECEF_omega_earth ( 0.  0, 0.  0, 7.292115e-  5  )

static

main()

int main

(

void

)

Definition at line 704 of file testInertialNavFactor_GlobalVelocity.cpp.

predictionErrorPose()

Pose3 predictionErrorPose	(	const Pose3 &	p1,
		const Vector3 &	v1,
		const imuBias::ConstantBias &	b1,
		const Pose3 &	p2,
		const Vector3 &	v2,
		const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &	factor
	)

Definition at line 42 of file testInertialNavFactor_GlobalVelocity.cpp.

predictionErrorVel()

Vector predictionErrorVel	(	const Pose3 &	p1,
		const Vector3 &	v1,
		const imuBias::ConstantBias &	b1,
		const Pose3 &	p2,
		const Vector3 &	v2,
		const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > &	factor
	)

Definition at line 48 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [1/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		Constructor
	)

Definition at line 54 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [2/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		Equals
	)

Definition at line 73 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [3/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		Predict
	)

Definition at line 96 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [4/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		ErrorPosVel
	)

Definition at line 129 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [5/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		ErrorRot
	)

Definition at line 161 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [6/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		ErrorRotPosVel
	)

Definition at line 194 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [7/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		Jacobian
	)

• VADIM - START ************************************************************************* */* VADIM - END ************************************************************************* */

Definition at line 262 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [8/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		ConstructorWithTransform
	)

Definition at line 371 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [9/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		EqualsWithTransform
	)

Definition at line 393 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [10/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		PredictWithTransform
	)

Definition at line 420 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [11/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		ErrorPosVelWithTransform
	)

Definition at line 459 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [12/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		ErrorRotWithTransform
	)

Definition at line 497 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [13/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		ErrorRotPosVelWithTransform
	)

Definition at line 538 of file testInertialNavFactor_GlobalVelocity.cpp.

TEST() [14/14]

TEST	(	InertialNavFactor_GlobalVelocity	,
		JacobianWithTransform
	)

Definition at line 589 of file testInertialNavFactor_GlobalVelocity.cpp.

world_g()

static const Vector3 world_g ( 0.  0, 0.  0, 9.  81  )

static

world_rho()

static const Vector3 world_rho ( 0.  0, -1.5724e-  05, 0.  0  )

static

Variable Documentation

world_omega_earth

const Vector3 world_omega_earth

static

Initial value:

= world_R_ECEF.matrix()
    * ECEF_omega_earth

Definition at line 38 of file testInertialNavFactor_GlobalVelocity.cpp.

world_R_ECEF

Rot3 world_R_ECEF(0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471)