testInitializePose3.cpp File Reference

Unit tests for 3D SLAM initialization, using rotation relaxation. More...

#include <gtsam/slam/InitializePose3.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Pose3.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>

Include dependency graph for testInitializePose3.cpp:

Go to the source code of this file.

Namespaces
	simple

Functions
NonlinearFactorGraph	simple::graph ()
NonlinearFactorGraph	simple::graph2 ()
int	main ()
static SharedNoiseModel	model (noiseModel::Isotropic::Sigma(6, 0.1))
	TEST (InitializePose3, buildPose3graph)
	TEST (InitializePose3, orientations)
	TEST (InitializePose3, orientationsPrecisions)
	TEST (InitializePose3, orientationsGradientSymbolicGraph)
	TEST (InitializePose3, singleGradient)
	TEST (InitializePose3, iterationGradient)
	TEST (InitializePose3, orientationsGradient)
	TEST (InitializePose3, posesWithGivenGuess)
	TEST (InitializePose3, initializePoses)

Variables
static Point3	simple::p0 = Point3(0,0,0)
static Point3	simple::p1 = Point3(1,2,0)
static Point3	simple::p2 = Point3(0,2,0)
static Point3	simple::p3 = Point3(-1,1,0)
static Pose3	simple::pose0 = Pose3(R0,p0)
static Pose3	simple::pose1 = Pose3(R1,p1)
static Pose3	simple::pose2 = Pose3(R2,p2)
static Pose3	simple::pose3 = Pose3(R3,p3)
static Rot3	simple::R0 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,0.0 ).finished() )
static Rot3	simple::R1 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,1.570796 ).finished() )
static Rot3	simple::R2 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,3.141593 ).finished() )
static Rot3	simple::R3 = Rot3::Expmap( ( Vector(3) << 0.0,0.0,4.712389 ).finished() )
static Symbol	x0 ('x', 0)
static Symbol	x1 ('x', 1)
static Symbol	x2 ('x', 2)
static Symbol	x3 ('x', 3)

Detailed Description

Unit tests for 3D SLAM initialization, using rotation relaxation.

Author

Luca Carlone

Frank Dellaert

Date

August, 2014

Definition in file testInitializePose3.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 279 of file testInitializePose3.cpp.

model()

static SharedNoiseModel model ( noiseModel::Isotropic::Sigma(6, 0.1)  )

static

TEST() [1/9]

TEST	(	InitializePose3	,
		buildPose3graph
	)

Definition at line 92 of file testInitializePose3.cpp.

TEST() [2/9]

TEST	(	InitializePose3	,
		orientations
	)

Definition at line 98 of file testInitializePose3.cpp.

TEST() [3/9]

TEST	(	InitializePose3	,
		orientationsPrecisions
	)

Definition at line 111 of file testInitializePose3.cpp.

TEST() [4/9]

TEST	(	InitializePose3	,
		orientationsGradientSymbolicGraph
	)

Definition at line 124 of file testInitializePose3.cpp.

TEST() [5/9]

TEST	(	InitializePose3	,
		singleGradient
	)

Definition at line 156 of file testInitializePose3.cpp.

TEST() [6/9]

TEST	(	InitializePose3	,
		iterationGradient
	)

Definition at line 173 of file testInitializePose3.cpp.

TEST() [7/9]

TEST	(	InitializePose3	,
		orientationsGradient
	)

Definition at line 214 of file testInitializePose3.cpp.

TEST() [8/9]

TEST	(	InitializePose3	,
		posesWithGivenGuess
	)

Definition at line 251 of file testInitializePose3.cpp.

TEST() [9/9]

TEST	(	InitializePose3	,
		initializePoses
	)

Definition at line 265 of file testInitializePose3.cpp.

Variable Documentation

x0

Symbol x0( 'x', 0)

static

x1

Symbol x1( 'x', 1)

x2

Symbol x2( 'x', 2)

x3

Symbol x3( 'x', 3)