Functions | Variables
testKarcherMeanFactor.cpp File Reference
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/SO4.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/KarcherMeanFactor-inl.h>
#include <gtsam/slam/KarcherMeanFactor.h>
#include <CppUnitLite/TestHarness.h>
Include dependency graph for testKarcherMeanFactor.cpp:

Go to the source code of this file.

Functions

int main ()
 
 TEST (KarcherMean, FindRot3)
 
 TEST (KarcherMean, FactorRot3)
 
 TEST (KarcherMean, FindSO4)
 
 TEST (KarcherMean, FactorSO4)
 

Variables

static const SO4 Q = SO4::Expmap((Vector6() << 1, 2, 3, 4, 5, 6).finished())
 
static const Rot3 R = Rot3::Expmap(Vector3(0.1, 0, 0))
 

Function Documentation

◆ main()

int main ( void  )

Definition at line 107 of file testKarcherMeanFactor.cpp.

◆ TEST() [1/4]

TEST ( KarcherMean  ,
FindRot3   
)

Definition at line 38 of file testKarcherMeanFactor.cpp.

◆ TEST() [2/4]

TEST ( KarcherMean  ,
FactorRot3   
)

Definition at line 47 of file testKarcherMeanFactor.cpp.

◆ TEST() [3/4]

TEST ( KarcherMean  ,
FindSO4   
)

Definition at line 77 of file testKarcherMeanFactor.cpp.

◆ TEST() [4/4]

TEST ( KarcherMean  ,
FactorSO4   
)

Definition at line 85 of file testKarcherMeanFactor.cpp.

Variable Documentation

◆ Q

const SO4 Q = SO4::Expmap((Vector6() << 1, 2, 3, 4, 5, 6).finished())
static

Definition at line 74 of file testKarcherMeanFactor.cpp.

◆ R

const Rot3 R = Rot3::Expmap(Vector3(0.1, 0, 0))
static

Definition at line 33 of file testKarcherMeanFactor.cpp.



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autogenerated on Tue Jul 4 2023 02:40:55