testPoseRotationPrior.cpp File Reference

Tests rotation priors on poses. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/slam/PoseRotationPrior.h>

Include dependency graph for testPoseRotationPrior.cpp:

Go to the source code of this file.

Typedefs
typedef PoseRotationPrior< Pose2 >	Pose2RotationPrior
typedef PoseRotationPrior< Pose3 >	Pose3RotationPrior

Functions
Vector	evalFactorError2 (const Pose2RotationPrior &factor, const Pose2 &x)
Vector	evalFactorError3 (const Pose3RotationPrior &factor, const Pose3 &x)
int	main ()
const Point2	point2A (1.0, 2.0)
const Point2	point2B (4.0, 6.0)
const Point3	point3A (1.0, 2.0, 3.0)
const Point3	point3B (4.0, 6.0, 8.0)
	TEST (testPoseRotationFactor, level3_zero_error)
	TEST (testPoseRotationFactor, level3_error)
	TEST (testPoseRotationFactor, level2_zero_error)
	TEST (testPoseRotationFactor, level2_error)
	TEST (testPoseRotationFactor, level2_error_wrap)

Variables
const SharedNoiseModel	model1 = noiseModel::Diagonal::Sigmas((Vector(1) << 0.1).finished())
const SharedNoiseModel	model3 = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.2, 0.3))
const gtsam::Key	poseKey = 1
const Rot2	rot2A
const Rot2	rot2B = Rot2::fromAngle(M_PI_2)
const Rot2	rot2C = Rot2::fromAngle(M_PI-0.01)
const Rot2	rot2D = Rot2::fromAngle(M_PI+0.01)
const Rot3	rot3A
const Rot3	rot3B = Rot3::Pitch(-M_PI_2)
const Rot3	rot3C = Rot3::Expmap(Vector3(0.1, 0.2, 0.3))
const double	tol = 1e-5

Detailed Description

Tests rotation priors on poses.

Date

Jun 14, 2012

Author

Alex Cunningham

Definition in file testPoseRotationPrior.cpp.

Typedef Documentation

Pose2RotationPrior

typedef PoseRotationPrior<Pose2> Pose2RotationPrior

Definition at line 24 of file testPoseRotationPrior.cpp.

Pose3RotationPrior

typedef PoseRotationPrior<Pose3> Pose3RotationPrior

Definition at line 25 of file testPoseRotationPrior.cpp.

Function Documentation

evalFactorError2()

Vector evalFactorError2	(	const Pose2RotationPrior &	factor,
		const Pose2 &	x
	)

Definition at line 46 of file testPoseRotationPrior.cpp.

evalFactorError3()

Vector evalFactorError3	(	const Pose3RotationPrior &	factor,
		const Pose3 &	x
	)

Definition at line 41 of file testPoseRotationPrior.cpp.

main()

int main

(

void

)

Definition at line 107 of file testPoseRotationPrior.cpp.

point2A()

const Point2 point2A	(	1.	0,
		2.	0
	)

point2B()

const Point2 point2B	(	4.	0,
		6.	0
	)

point3A()

const Point3 point3A	(	1.	0,
		2.	0,
		3.	0
	)

point3B()

const Point3 point3B	(	4.	0,
		6.	0,
		8.	0
	)

TEST() [1/5]

TEST	(	testPoseRotationFactor	,
		level3_zero_error
	)

Definition at line 51 of file testPoseRotationPrior.cpp.

TEST() [2/5]

TEST	(	testPoseRotationFactor	,
		level3_error
	)

Definition at line 61 of file testPoseRotationPrior.cpp.

TEST() [3/5]

TEST	(	testPoseRotationFactor	,
		level2_zero_error
	)

Definition at line 77 of file testPoseRotationPrior.cpp.

TEST() [4/5]

TEST	(	testPoseRotationFactor	,
		level2_error
	)

Definition at line 87 of file testPoseRotationPrior.cpp.

TEST() [5/5]

TEST	(	testPoseRotationFactor	,
		level2_error_wrap
	)

Definition at line 97 of file testPoseRotationPrior.cpp.

Variable Documentation

model1

const SharedNoiseModel model1 = noiseModel::Diagonal::Sigmas((Vector(1) << 0.1).finished())

Definition at line 21 of file testPoseRotationPrior.cpp.

model3

const SharedNoiseModel model3 = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.2, 0.3))

Definition at line 22 of file testPoseRotationPrior.cpp.

poseKey

const gtsam::Key poseKey = 1

Definition at line 29 of file testPoseRotationPrior.cpp.

rot2A

const Rot2 rot2A

Definition at line 37 of file testPoseRotationPrior.cpp.

rot2B

const Rot2 rot2B = Rot2::fromAngle(M_PI_2)

Definition at line 37 of file testPoseRotationPrior.cpp.

rot2C

const Rot2 rot2C = Rot2::fromAngle(M_PI-0.01)

Definition at line 38 of file testPoseRotationPrior.cpp.

rot2D

const Rot2 rot2D = Rot2::fromAngle(M_PI+0.01)

Definition at line 38 of file testPoseRotationPrior.cpp.

rot3A

const Rot3 rot3A

Definition at line 33 of file testPoseRotationPrior.cpp.

rot3B

const Rot3 rot3B = Rot3::Pitch(-M_PI_2)

Definition at line 33 of file testPoseRotationPrior.cpp.

rot3C

const Rot3 rot3C = Rot3::Expmap(Vector3(0.1, 0.2, 0.3))

Definition at line 33 of file testPoseRotationPrior.cpp.

tol

const double tol = 1e-5

Definition at line 27 of file testPoseRotationPrior.cpp.