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)