#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:

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))