testNonlinearFactor.cpp File Reference

Unit tests for Non-Linear Factor, create a non linear factor graph and a values structure for it and calculate the error for the factor. More...

#include <iostream>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/Matrix.h>
#include <tests/smallExample.h>
#include <tests/simulated2D.h>
#include <gtsam/linear/GaussianFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/inference/Symbol.h>

Include dependency graph for testNonlinearFactor.cpp:

Go to the source code of this file.

Classes
class	TestFactor1
class	TestFactor4
class	TestFactor5
class	TestFactor6
class	TestFactorN

Macros
#define	GTSAM_MAGIC_GAUSSIAN   2

Typedefs
typedef std::shared_ptr< NonlinearFactor >	shared_nlf

Functions
int	main ()
	TEST (NonlinearFactor, equals)
	TEST (NonlinearFactor, equals2)
	TEST (NonlinearFactor, NonlinearFactor)
	TEST (NonlinearFactor, Weight)
	TEST (NonlinearFactor, linearize_f1)
	TEST (NonlinearFactor, linearize_f2)
	TEST (NonlinearFactor, linearize_f3)
	TEST (NonlinearFactor, linearize_f4)
	TEST (NonlinearFactor, size)
	TEST (NonlinearFactor, linearize_constraint1)
	TEST (NonlinearFactor, linearize_constraint2)
	TEST (NonlinearFactor, cloneWithNewNoiseModel)
	TEST (NonlinearFactor, NoiseModelFactor1)
	TEST (NonlinearFactor, NoiseModelFactor4)
	TEST (NonlinearFactor, NoiseModelFactor5)
	TEST (NonlinearFactor, NoiseModelFactor6)
	TEST (NonlinearFactor, NoiseModelFactorN)
	TEST (NonlinearFactor, clone_rekey)

Detailed Description

Unit tests for Non-Linear Factor, create a non linear factor graph and a values structure for it and calculate the error for the factor.

Author

Christian Potthast

Definition in file testNonlinearFactor.cpp.

Macro Definition Documentation

GTSAM_MAGIC_GAUSSIAN

#define GTSAM_MAGIC_GAUSSIAN   2

Definition at line 26 of file testNonlinearFactor.cpp.

Typedef Documentation

shared_nlf

typedef std::shared_ptr<NonlinearFactor > shared_nlf

Definition at line 44 of file testNonlinearFactor.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 729 of file testNonlinearFactor.cpp.

TEST() [1/18]

TEST	(	NonlinearFactor	,
		equals
	)

Definition at line 47 of file testNonlinearFactor.cpp.

TEST() [2/18]

TEST	(	NonlinearFactor	,
		equals2
	)

Definition at line 66 of file testNonlinearFactor.cpp.

TEST() [3/18]

TEST	(	NonlinearFactor	,
		NonlinearFactor
	)

Definition at line 80 of file testNonlinearFactor.cpp.

TEST() [4/18]

TEST	(	NonlinearFactor	,
		Weight
	)

Definition at line 105 of file testNonlinearFactor.cpp.

TEST() [5/18]

TEST	(	NonlinearFactor	,
		linearize_f1
	)

Definition at line 181 of file testNonlinearFactor.cpp.

TEST() [6/18]

TEST	(	NonlinearFactor	,
		linearize_f2
	)

Definition at line 203 of file testNonlinearFactor.cpp.

TEST() [7/18]

TEST	(	NonlinearFactor	,
		linearize_f3
	)

Definition at line 221 of file testNonlinearFactor.cpp.

TEST() [8/18]

TEST	(	NonlinearFactor	,
		linearize_f4
	)

Definition at line 238 of file testNonlinearFactor.cpp.

TEST() [9/18]

TEST	(	NonlinearFactor	,
		size
	)

Definition at line 255 of file testNonlinearFactor.cpp.

TEST() [10/18]

TEST	(	NonlinearFactor	,
		linearize_constraint1
	)

Definition at line 273 of file testNonlinearFactor.cpp.

TEST() [11/18]

TEST	(	NonlinearFactor	,
		linearize_constraint2
	)

Definition at line 292 of file testNonlinearFactor.cpp.

TEST() [12/18]

TEST	(	NonlinearFactor	,
		cloneWithNewNoiseModel
	)

Definition at line 313 of file testNonlinearFactor.cpp.

TEST() [13/18]

TEST	(	NonlinearFactor	,
		NoiseModelFactor1
	)

Definition at line 361 of file testNonlinearFactor.cpp.

TEST() [14/18]

TEST	(	NonlinearFactor	,
		NoiseModelFactor4
	)

Definition at line 425 of file testNonlinearFactor.cpp.

TEST() [15/18]

TEST	(	NonlinearFactor	,
		NoiseModelFactor5
	)

Definition at line 515 of file testNonlinearFactor.cpp.

TEST() [16/18]

TEST	(	NonlinearFactor	,
		NoiseModelFactor6
	)

Definition at line 569 of file testNonlinearFactor.cpp.

TEST() [17/18]

TEST	(	NonlinearFactor	,
		NoiseModelFactorN
	)

Definition at line 624 of file testNonlinearFactor.cpp.

TEST() [18/18]

TEST	(	NonlinearFactor	,
		clone_rekey
	)

Definition at line 697 of file testNonlinearFactor.cpp.