testNonlinearEquality.cpp File Reference

#include <tests/simulated2DConstraints.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testNonlinearEquality.cpp:

Go to the source code of this file.

Typedefs
typedef NonlinearEquality< Pose2 >	PoseNLE
typedef PriorFactor< Pose2 >	PosePrior
typedef std::shared_ptr< PoseNLE >	shared_poseNLE

Functions
int	main ()
	TEST (NonlinearEquality, linearization)
	TEST (NonlinearEquality, linearization_pose)
	TEST (NonlinearEquality, linearization_fail)
	TEST (NonlinearEquality, linearization_fail_pose)
	TEST (NonlinearEquality, linearization_fail_pose_origin)
	TEST (NonlinearEquality, error)
	TEST (NonlinearEquality, equals)
	TEST (NonlinearEquality, allow_error_pose)
	TEST (NonlinearEquality, allow_error_optimize)
	TEST (NonlinearEquality, allow_error_optimize_with_factors)
	TEST (testNonlinearEqualityConstraint, unary_basics)
	TEST (testNonlinearEqualityConstraint, unary_linearization)
	TEST (testNonlinearEqualityConstraint, unary_simple_optimization)
	TEST (testNonlinearEqualityConstraint, odo_basics)
	TEST (testNonlinearEqualityConstraint, odo_linearization)
	TEST (testNonlinearEqualityConstraint, odo_simple_optimize)
	TEST (testNonlinearEqualityConstraint, two_pose)
	TEST (testNonlinearEqualityConstraint, map_warp)
	TEST (testNonlinearEqualityConstraint, stereo_constrained)

Variables
static SharedDiagonal	hard_model = noiseModel::Constrained::All(2)
static Symbol	key ('x', 1)
static SharedDiagonal	soft_model = noiseModel::Isotropic::Sigma(2, 1.0)
static const double	tol = 1e-5

Typedef Documentation

PoseNLE

typedef NonlinearEquality<Pose2> PoseNLE

Definition at line 43 of file testNonlinearEquality.cpp.

PosePrior

typedef PriorFactor<Pose2> PosePrior

Definition at line 42 of file testNonlinearEquality.cpp.

shared_poseNLE

typedef std::shared_ptr<PoseNLE> shared_poseNLE

Definition at line 44 of file testNonlinearEquality.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 579 of file testNonlinearEquality.cpp.

TEST() [1/19]

TEST	(	NonlinearEquality	,
		linearization
	)

Definition at line 49 of file testNonlinearEquality.cpp.

TEST() [2/19]

TEST	(	NonlinearEquality	,
		linearization_pose
	)

Definition at line 65 of file testNonlinearEquality.cpp.

TEST() [3/19]

TEST	(	NonlinearEquality	,
		linearization_fail
	)

Definition at line 80 of file testNonlinearEquality.cpp.

TEST() [4/19]

TEST	(	NonlinearEquality	,
		linearization_fail_pose
	)

Definition at line 94 of file testNonlinearEquality.cpp.

TEST() [5/19]

TEST	(	NonlinearEquality	,
		linearization_fail_pose_origin
	)

Definition at line 109 of file testNonlinearEquality.cpp.

TEST() [6/19]

TEST	(	NonlinearEquality	,
		error
	)

Definition at line 124 of file testNonlinearEquality.cpp.

TEST() [7/19]

TEST	(	NonlinearEquality	,
		equals
	)

Definition at line 144 of file testNonlinearEquality.cpp.

TEST() [8/19]

TEST	(	NonlinearEquality	,
		allow_error_pose
	)

Definition at line 163 of file testNonlinearEquality.cpp.

TEST() [9/19]

TEST	(	NonlinearEquality	,
		allow_error_optimize
	)

Definition at line 192 of file testNonlinearEquality.cpp.

TEST() [10/19]

TEST	(	NonlinearEquality	,
		allow_error_optimize_with_factors
	)

Definition at line 218 of file testNonlinearEquality.cpp.

TEST() [11/19]

TEST	(	testNonlinearEqualityConstraint	,
		unary_basics
	)

Definition at line 253 of file testNonlinearEquality.cpp.

TEST() [12/19]

TEST	(	testNonlinearEqualityConstraint	,
		unary_linearization
	)

Definition at line 278 of file testNonlinearEquality.cpp.

TEST() [13/19]

TEST	(	testNonlinearEqualityConstraint	,
		unary_simple_optimization
	)

Definition at line 301 of file testNonlinearEquality.cpp.

TEST() [14/19]

TEST	(	testNonlinearEqualityConstraint	,
		odo_basics
	)

Definition at line 334 of file testNonlinearEquality.cpp.

TEST() [15/19]

TEST	(	testNonlinearEqualityConstraint	,
		odo_linearization
	)

Definition at line 362 of file testNonlinearEquality.cpp.

TEST() [16/19]

TEST	(	testNonlinearEqualityConstraint	,
		odo_simple_optimize
	)

Definition at line 390 of file testNonlinearEquality.cpp.

TEST() [17/19]

TEST	(	testNonlinearEqualityConstraint	,
		two_pose
	)

Definition at line 427 of file testNonlinearEquality.cpp.

TEST() [18/19]

TEST	(	testNonlinearEqualityConstraint	,
		map_warp
	)

Definition at line 469 of file testNonlinearEquality.cpp.

TEST() [19/19]

TEST	(	testNonlinearEqualityConstraint	,
		stereo_constrained
	)

Definition at line 514 of file testNonlinearEquality.cpp.

Variable Documentation

hard_model

SharedDiagonal hard_model = noiseModel::Constrained::All(2)

static

Definition at line 249 of file testNonlinearEquality.cpp.

key

Symbol key( 'x', 1)

static

soft_model

SharedDiagonal soft_model = noiseModel::Isotropic::Sigma(2, 1.0)

static

Definition at line 250 of file testNonlinearEquality.cpp.

tol

const double tol = 1e-5

static

Definition at line 40 of file testNonlinearEquality.cpp.