Unit tests for Pose2 class. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/lieProxies.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Rot2.h>
#include <optional>
#include <cmath>
#include <iostream>
#include "testPoseAdjointMap.h"

Include dependency graph for testPose2.cpp:

Go to the source code of this file.

Namespaces
	align_3

	screwPose2

Functions
Point2	align_3::b1 (0, 0)

Point2	align_3::b2 (10, 0)

Point2	align_3::b3 (10, 10)

Point2	screwPose2::expectedT (-0.0446635, 0.29552)

int	main ()

Point2	align_3::t (10, 10)

	TEST (Pose2, Concept)

	TEST (Pose2, constructors)

	TEST (Pose2, manifold)

	TEST (Pose2, retract)

	TEST (Pose2, expmap)

	TEST (Pose2, expmap2)

	TEST (Pose2, expmap3)

	TEST (Pose2, expmap0a)

	TEST (Pose2, expmap0b)

	TEST (Pose2, expmap0c)

	TEST (Pose2, expmap0d)

	TEST (Pose2, expmap_c)

	TEST (Pose2, expmap_c_full)

	TEST (Pose2, Adjoint_full)

	TEST (Pose2, Adjoint_hat)

	TEST (Pose2, logmap)

	TEST (Pose2, logmap_full)

	TEST (Pose2, ExpmapDerivative1)

	TEST (Pose2, ExpmapDerivative2)

	TEST (Pose2, LogmapDerivative1)

	TEST (Pose2, LogmapDerivative2)

	TEST (Pose2, transformTo)

	TEST (Pose2, transformFrom)

	TEST (Pose2, compose_a)

	TEST (Pose2, compose_b)

	TEST (Pose2, compose_c)

	TEST (Pose2, inverse)

	TEST (Pose2, matrix)

	TEST (Pose2, compose_matrix)

	TEST (Pose2, translation)

	TEST (Pose2, rotation)

	TEST (Pose2, between)

	TEST (Pose2, between2)

	TEST (Pose2, between3)

	TEST (Pose2, round_trip)

	TEST (Pose2, bearing)

	TEST (Pose2, bearing_pose)

	TEST (Pose2, range)

	TEST (Pose2, range_pose)

	TEST (Pose2, align_1)

	TEST (Pose2, align_2)

	TEST (Pose2, align_3)

	TEST (Pose2, align_4)

	TEST (Pose2, Invariants)

	TEST (Pose2, LieGroupDerivatives)

	TEST (Pose2, ChartDerivatives)

	TEST (Pose2, TransformCovariance3)

	TEST (Pose2, Print)

static Point2	transformFrom_ (const Pose2 &pose, const Point2 &point)

static Point2	transformTo_ (const Pose2 &pose, const Point2 &point)

Variables
Point2	align_3::a1 = expected.transformFrom(b1)

Point2	align_3::a2 = expected.transformFrom(b2)

Point2	align_3::a3 = expected.transformFrom(b3)

Pose2	screwPose2::expected (expectedR, expectedT)

Pose2	align_3::expected (Rot2::fromAngle(2 *M_PI/3), t)

Rot2	screwPose2::expectedR = Rot2::fromAngle(w)

double	screwPose2::w =0.3

Vector	screwPose2::xi = (Vector(3) << 0.0, w, w).finished()

Detailed Description

Unit tests for Pose2 class.

Definition in file testPose2.cpp.

Function Documentation

◆ main()

int main ( void )

Definition at line 942 of file testPose2.cpp.

◆ TEST() [1/48]

TEST	(	Pose2	,
		Concept
	)

Definition at line 37 of file testPose2.cpp.

◆ TEST() [2/48]

TEST	(	Pose2	,
		constructors
	)

Definition at line 44 of file testPose2.cpp.

◆ TEST() [3/48]

TEST	(	Pose2	,
		manifold
	)

Definition at line 54 of file testPose2.cpp.

◆ TEST() [4/48]

TEST	(	Pose2	,
		retract
	)

Definition at line 67 of file testPose2.cpp.

◆ TEST() [5/48]

TEST	(	Pose2	,
		expmap
	)

Definition at line 79 of file testPose2.cpp.

◆ TEST() [6/48]

TEST	(	Pose2	,
		expmap2
	)

Definition at line 87 of file testPose2.cpp.

◆ TEST() [7/48]

TEST	(	Pose2	,
		expmap3
	)

Definition at line 95 of file testPose2.cpp.

◆ TEST() [8/48]

TEST	(	Pose2	,
		expmap0a
	)

Definition at line 114 of file testPose2.cpp.

◆ TEST() [9/48]

TEST	(	Pose2	,
		expmap0b
	)

Definition at line 121 of file testPose2.cpp.

◆ TEST() [10/48]

TEST	(	Pose2	,
		expmap0c
	)

Definition at line 129 of file testPose2.cpp.

◆ TEST() [11/48]

TEST	(	Pose2	,
		expmap0d
	)

Definition at line 137 of file testPose2.cpp.

◆ TEST() [12/48]

TEST	(	Pose2	,
		expmap_c
	)

Definition at line 154 of file testPose2.cpp.

◆ TEST() [13/48]

TEST	(	Pose2	,
		expmap_c_full
	)

Definition at line 162 of file testPose2.cpp.

◆ TEST() [14/48]

TEST	(	Pose2	,
		Adjoint_full
	)

Definition at line 176 of file testPose2.cpp.

◆ TEST() [15/48]

TEST	(	Pose2	,
		Adjoint_hat
	)

Definition at line 190 of file testPose2.cpp.

◆ TEST() [16/48]

TEST	(	Pose2	,
		logmap
	)

Definition at line 204 of file testPose2.cpp.

◆ TEST() [17/48]

TEST	(	Pose2	,
		logmap_full
	)

Definition at line 217 of file testPose2.cpp.

◆ TEST() [18/48]

TEST	(	Pose2	,
		ExpmapDerivative1
	)

Definition at line 226 of file testPose2.cpp.

◆ TEST() [19/48]

TEST	(	Pose2	,
		ExpmapDerivative2
	)

Definition at line 236 of file testPose2.cpp.

◆ TEST() [20/48]

TEST	(	Pose2	,
		LogmapDerivative1
	)

Definition at line 246 of file testPose2.cpp.

◆ TEST() [21/48]

TEST	(	Pose2	,
		LogmapDerivative2
	)

Definition at line 257 of file testPose2.cpp.

◆ TEST() [22/48]

TEST	(	Pose2	,
		transformTo
	)

Definition at line 272 of file testPose2.cpp.

◆ TEST() [23/48]

TEST	(	Pose2	,
		transformFrom
	)

Definition at line 301 of file testPose2.cpp.

◆ TEST() [24/48]

TEST	(	Pose2	,
		compose_a
	)

Definition at line 323 of file testPose2.cpp.

◆ TEST() [25/48]

TEST	(	Pose2	,
		compose_b
	)

Definition at line 357 of file testPose2.cpp.

◆ TEST() [26/48]

TEST	(	Pose2	,
		compose_c
	)

Definition at line 378 of file testPose2.cpp.

◆ TEST() [27/48]

TEST	(	Pose2	,
		inverse
	)

Definition at line 399 of file testPose2.cpp.

◆ TEST() [28/48]

TEST	(	Pose2	,
		matrix
	)

Definition at line 437 of file testPose2.cpp.

◆ TEST() [29/48]

TEST	(	Pose2	,
		compose_matrix
	)

Definition at line 469 of file testPose2.cpp.

◆ TEST() [30/48]

TEST	(	Pose2	,
		translation
	)

Definition at line 480 of file testPose2.cpp.

◆ TEST() [31/48]

TEST	(	Pose2	,
		rotation
	)

Definition at line 492 of file testPose2.cpp.

◆ TEST() [32/48]

TEST	(	Pose2	,
		between
	)

Definition at line 505 of file testPose2.cpp.

◆ TEST() [33/48]

TEST	(	Pose2	,
		between2
	)

Definition at line 546 of file testPose2.cpp.

◆ TEST() [34/48]

TEST	(	Pose2	,
		between3
	)

Definition at line 561 of file testPose2.cpp.

◆ TEST() [35/48]

TEST	(	Pose2	,
		round_trip
	)

Definition at line 575 of file testPose2.cpp.

◆ TEST() [36/48]

TEST	(	Pose2	,
		bearing
	)

Definition at line 595 of file testPose2.cpp.

◆ TEST() [37/48]

TEST	(	Pose2	,
		bearing_pose
	)

Definition at line 633 of file testPose2.cpp.

◆ TEST() [38/48]

TEST	(	Pose2	,
		range
	)

Definition at line 672 of file testPose2.cpp.

◆ TEST() [39/48]

TEST	(	Pose2	,
		range_pose
	)

Definition at line 709 of file testPose2.cpp.

◆ TEST() [40/48]

TEST	(	Pose2	,
		align_1
	)

Definition at line 744 of file testPose2.cpp.

◆ TEST() [41/48]

TEST	(	Pose2	,
		align_2
	)

Definition at line 752 of file testPose2.cpp.

◆ TEST() [42/48]

TEST	(	Pose2	,
		align_3
	)

Definition at line 774 of file testPose2.cpp.

◆ TEST() [43/48]

TEST	(	Pose2	,
		align_4
	)

Definition at line 802 of file testPose2.cpp.

◆ TEST() [44/48]

TEST	(	Pose2	,
		Invariants
	)

Definition at line 822 of file testPose2.cpp.

◆ TEST() [45/48]

TEST	(	Pose2	,
		LieGroupDerivatives
	)

Definition at line 835 of file testPose2.cpp.

◆ TEST() [46/48]

TEST	(	Pose2	,
		ChartDerivatives
	)

Definition at line 843 of file testPose2.cpp.

◆ TEST() [47/48]

TEST	(	Pose2	,
		TransformCovariance3
	)

Definition at line 853 of file testPose2.cpp.

◆ TEST() [48/48]

TEST	(	Pose2	,
		Print
	)

Definition at line 926 of file testPose2.cpp.

◆ transformFrom_()

static Point2 transformFrom_	(	const Pose2 &	pose,
		const Point2 &	point
	)

static

Definition at line 297 of file testPose2.cpp.

◆ transformTo_()

static Point2 transformTo_	(	const Pose2 &	pose,
		const Point2 &	point
	)