28 using namespace gtsam;
39 Point3 nM(22653.29982, -1956.83010, 44202.47862);
41 double scale = 255.0 / 50000.0;
48 Point3 scaled = scale * nM;
51 double s(scale* nM.norm());
81 ([&f1] (
const Rot3& nRb) {
return f1.evaluateError(nRb); },
nRb), H1, 1
e-7));
87 ([&f2] (
const Point3& scaled) {
return f2.evaluateError(scaled,bias); }, scaled), H1, 1
e-7));
89 ([&f2] (
const Point3& bias) {
return f2.evaluateError(scaled,bias); }, bias), H2, 1
e-7));
95 ([&f3] (
double s) {
return f3.evaluateError(s,dir,bias); },
s), H1, 1
e-7));
97 ([&f3] (
const Unit3& dir) {
return f3.evaluateError(s,dir,bias); }, dir), H2, 1
e-7));
99 ([&f3] (
const Point3& bias) {
return f3.evaluateError(s,dir,bias); }, bias), H3, 1
e-7));
static const Eigen::MatrixBase< Vector3 >::ConstantReturnType Z_3x1
Concept check for values that can be used in unit tests.
static int runAllTests(TestResult &result)
Header for GeographicLib::LocalCartesian class.
noiseModel::Diagonal::shared_ptr model
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
Some functions to compute numerical derivatives.
double f2(const Vector2 &x)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy y set format x g set format y g set format x2 g set format y2 g set format z g set angles radians set nogrid set key title set key left top Right noreverse box linetype linewidth samplen spacing width set nolabel set noarrow set nologscale set logscale x set set pointsize set encoding default set nopolar set noparametric set set set set surface set nocontour set clabel set mapping cartesian set nohidden3d set cntrparam order set cntrparam linear set cntrparam levels auto set cntrparam points set size set set xzeroaxis lt lw set x2zeroaxis lt lw set yzeroaxis lt lw set y2zeroaxis lt lw set tics in set ticslevel set tics set mxtics default set mytics default set mx2tics default set my2tics default set xtics border mirror norotate autofreq set ytics border mirror norotate autofreq set ztics border nomirror norotate autofreq set nox2tics set noy2tics set timestamp bottom norotate set rrange [*:*] noreverse nowriteback set trange [*:*] noreverse nowriteback set urange [*:*] noreverse nowriteback set vrange [*:*] noreverse nowriteback set xlabel matrix size set x2label set timefmt d m y n H
Rot3 is a 3D rotation represented as a rotation matrix if the preprocessor symbol GTSAM_USE_QUATERNIO...
Rot3 inverse() const
inverse of a rotation
Represents a 3D point on a unit sphere.
Factors involving magnetometers.
P unrotate(const T &r, const P &pt)
#define EXPECT(condition)
Vector evaluateError(const Rot2 &nRb, OptionalMatrixType H) const override
vector of errors
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
Namespace for GeographicLib.
Array< double, 1, 3 > e(1./3., 0.5, 2.)
Point2 f1(const Point3 &p, OptionalJacobian< 2, 3 > H)
double f3(double x1, double x2)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy y set format x g set format y g set format x2 g set format y2 g set format z g set angles radians set nogrid set key title set key left top Right noreverse box linetype linewidth samplen spacing width set nolabel set noarrow set nologscale set logscale x set set pointsize set encoding default set nopolar set noparametric set set set set surface set nocontour set clabel set mapping cartesian set nohidden3d set cntrparam order set cntrparam linear set cntrparam levels auto set cntrparam points set size set set xzeroaxis lt lw set x2zeroaxis lt lw set yzeroaxis lt lw set y2zeroaxis lt lw set tics in set ticslevel set tics scale
double yaw(OptionalJacobian< 1, 3 > H={}) const
TEST(MagFactor, unrotate)
noiseModel::Base::shared_ptr SharedNoiseModel