testJacobianFactor.cpp File Reference

Unit tests for Linear Factor. More...

#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/inference/VariableSlots.h>
#include <gtsam/linear/JacobianFactor.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/GaussianConditional.h>
#include <gtsam/linear/VectorValues.h>

Include dependency graph for testJacobianFactor.cpp:

Go to the source code of this file.

Namespaces
	simple
	simple_graph

Typedefs
using	Dims = std::vector< Eigen::Index >

Functions
Key	simple_graph::keyX (10)
Key	simple_graph::keyY (8)
Key	simple_graph::keyZ (12)
int	main ()
	TEST (JacobianFactor, constructors_and_accessors)
	TEST (JabobianFactor, Hessian_conversion)
	TEST (JabobianFactor, Hessian_conversion2)
	TEST (JabobianFactor, Hessian_conversion3)
	TEST (JacobianFactor, construct_from_graph)
	TEST (JacobianFactor, error)
	TEST (JacobianFactor, matrices_NULL)
	TEST (JacobianFactor, matrices)
	TEST (JacobianFactor, operators)
	TEST (JacobianFactor, default_error)
	TEST (JacobianFactor, empty)
	TEST (JacobianFactor, eliminate)
	TEST (JacobianFactor, eliminate2)
	TEST (JacobianFactor, EliminateQR)
	TEST (JacobianFactor, constraint_eliminate1)
	TEST (JacobianFactor, constraint_eliminate2)
	TEST (JacobianFactor, OverdeterminedEliminate)

Variables
Matrix	simple_graph::A11 = I_2x2
Matrix	simple_graph::A21 = -2 * I_2x2
Matrix	simple_graph::A22 = 3 * I_2x2
Matrix	simple_graph::A32 = -4 * I_2x2
Matrix	simple_graph::A33 = 5 * I_2x2
Vector2	simple_graph::b1 (2, -1)
Vector2	simple_graph::b2 (4, -5)
Vector2	simple_graph::b3 (3, -6)
auto	simple_graph::factor1
auto	simple_graph::factor2
auto	simple_graph::factor3
const GaussianFactorGraph	simple_graph::factors { factor1, factor2, factor3 }
const Ordering	simple_graph::ordering { keyX, keyY, keyZ }
double	simple_graph::sigma1 = 0.1
double	simple_graph::sigma2 = 0.5
double	simple_graph::sigma3 = 1.0

Detailed Description

Unit tests for Linear Factor.

Author

Christian Potthast

Frank Dellaert

Definition in file testJacobianFactor.cpp.

Typedef Documentation

Dims

using Dims = std::vector<Eigen::Index>

Definition at line 31 of file testJacobianFactor.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 660 of file testJacobianFactor.cpp.

TEST() [1/17]

TEST	(	JacobianFactor	,
		constructors_and_accessors
	)

Definition at line 47 of file testJacobianFactor.cpp.

TEST() [2/17]

TEST	(	JabobianFactor	,
		Hessian_conversion
	)

Definition at line 141 of file testJacobianFactor.cpp.

TEST() [3/17]

TEST	(	JabobianFactor	,
		Hessian_conversion2
	)

Definition at line 159 of file testJacobianFactor.cpp.

TEST() [4/17]

TEST	(	JabobianFactor	,
		Hessian_conversion3
	)

Definition at line 170 of file testJacobianFactor.cpp.

TEST() [5/17]

TEST	(	JacobianFactor	,
		construct_from_graph
	)

Definition at line 209 of file testJacobianFactor.cpp.

TEST() [6/17]

TEST	(	JacobianFactor	,
		error
	)

Definition at line 227 of file testJacobianFactor.cpp.

TEST() [7/17]

TEST	(	JacobianFactor	,
		matrices_NULL
	)

Definition at line 250 of file testJacobianFactor.cpp.

TEST() [8/17]

TEST	(	JacobianFactor	,
		matrices
	)

Definition at line 294 of file testJacobianFactor.cpp.

TEST() [9/17]

TEST	(	JacobianFactor	,
		operators
	)

Definition at line 340 of file testJacobianFactor.cpp.

TEST() [10/17]

TEST	(	JacobianFactor	,
		default_error
	)

Definition at line 380 of file testJacobianFactor.cpp.

TEST() [11/17]

TEST	(	JacobianFactor	,
		empty
	)

Definition at line 388 of file testJacobianFactor.cpp.

TEST() [12/17]

TEST	(	JacobianFactor	,
		eliminate
	)

Definition at line 396 of file testJacobianFactor.cpp.

TEST() [13/17]

TEST	(	JacobianFactor	,
		eliminate2
	)

Definition at line 448 of file testJacobianFactor.cpp.

TEST() [14/17]

TEST	(	JacobianFactor	,
		EliminateQR
	)

Definition at line 516 of file testJacobianFactor.cpp.

TEST() [15/17]

TEST	(	JacobianFactor	,
		constraint_eliminate1
	)

Definition at line 580 of file testJacobianFactor.cpp.

TEST() [16/17]

TEST	(	JacobianFactor	,
		constraint_eliminate2
	)

Definition at line 600 of file testJacobianFactor.cpp.

TEST() [17/17]

TEST	(	JacobianFactor	,
		OverdeterminedEliminate
	)

Definition at line 636 of file testJacobianFactor.cpp.