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testLago.cpp File Reference

Unit tests for planar SLAM example using the initialization technique LAGO (Linear Approximation for Graph Optimization) More...

#include <gtsam/slam/lago.h>
#include <gtsam/slam/InitializePose.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/inference/Symbol.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>
Include dependency graph for testLago.cpp:

Go to the source code of this file.

Namespaces

 simpleLago
 

Functions

NonlinearFactorGraph simpleLago::graph ()
 
int main ()
 
static SharedNoiseModel model (noiseModel::Isotropic::Sigma(3, 0.1))
 
 TEST (Lago, findMinimumSpanningTree)
 
 TEST (Lago, checkSTandChords)
 
 TEST (Lago, orientationsOverSpanningTree)
 
 TEST (Lago, regularizedMeasurements)
 
 TEST (Lago, smallGraphVectorValues)
 
 TEST (Lago, smallGraphVectorValuesSP)
 
 TEST (Lago, multiplePosePriors)
 
 TEST (Lago, multiplePosePriorsSP)
 
 TEST (Lago, multiplePoseAndRotPriors)
 
 TEST (Lago, multiplePoseAndRotPriorsSP)
 
 TEST (Lago, smallGraphValues)
 
 TEST (Lago, smallGraph2)
 
 TEST (Lago, largeGraphNoisy_orientations)
 
 TEST (Lago, largeGraphNoisy)
 

Variables

static Pose2 simpleLago::pose0 = Pose2(0.000000, 0.000000, 0.000000)
 
static Pose2 simpleLago::pose1 = Pose2(1.000000, 1.000000, 1.570796)
 
static Pose2 simpleLago::pose2 = Pose2(0.000000, 2.000000, 3.141593)
 
static Pose2 simpleLago::pose3 = Pose2(-1.000000, 1.000000, 4.712389)
 
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 planar SLAM example using the initialization technique LAGO (Linear Approximation for Graph Optimization)

Author
Luca Carlone
Frank Dellaert
Date
May 14, 2014

Definition in file testLago.cpp.

Function Documentation

◆ main()

int main ( void  )

Definition at line 346 of file testLago.cpp.

◆ model()

static SharedNoiseModel model ( noiseModel::Isotropic::Sigma(3, 0.1)  )
static

◆ TEST() [1/14]

TEST ( Lago  ,
findMinimumSpanningTree   
)

Definition at line 69 of file testLago.cpp.

◆ TEST() [2/14]

TEST ( Lago  ,
checkSTandChords   
)

Definition at line 94 of file testLago.cpp.

◆ TEST() [3/14]

TEST ( Lago  ,
orientationsOverSpanningTree   
)

Definition at line 111 of file testLago.cpp.

◆ TEST() [4/14]

TEST ( Lago  ,
regularizedMeasurements   
)

Definition at line 148 of file testLago.cpp.

◆ TEST() [5/14]

TEST ( Lago  ,
smallGraphVectorValues   
)

Definition at line 173 of file testLago.cpp.

◆ TEST() [6/14]

TEST ( Lago  ,
smallGraphVectorValuesSP   
)

Definition at line 185 of file testLago.cpp.

◆ TEST() [7/14]

TEST ( Lago  ,
multiplePosePriors   
)

Definition at line 197 of file testLago.cpp.

◆ TEST() [8/14]

TEST ( Lago  ,
multiplePosePriorsSP   
)

Definition at line 211 of file testLago.cpp.

◆ TEST() [9/14]

TEST ( Lago  ,
multiplePoseAndRotPriors   
)

Definition at line 224 of file testLago.cpp.

◆ TEST() [10/14]

TEST ( Lago  ,
multiplePoseAndRotPriorsSP   
)

Definition at line 238 of file testLago.cpp.

◆ TEST() [11/14]

TEST ( Lago  ,
smallGraphValues   
)

Definition at line 251 of file testLago.cpp.

◆ TEST() [12/14]

TEST ( Lago  ,
smallGraph2   
)

Definition at line 274 of file testLago.cpp.

◆ TEST() [13/14]

TEST ( Lago  ,
largeGraphNoisy_orientations   
)

Definition at line 290 of file testLago.cpp.

◆ TEST() [14/14]

TEST ( Lago  ,
largeGraphNoisy   
)

Definition at line 322 of file testLago.cpp.

Variable Documentation

◆ x0

Symbol x0( 'x', 0)
static

◆ x1

Symbol x1( 'x', 1)

◆ x2

Symbol x2( 'x', 2)

◆ x3

Symbol x3( 'x', 3)


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autogenerated on Tue Jul 4 2023 02:40:55