testQuaternion.cpp File Reference

Unit tests for Quaternion, as a GTSAM-adapted Lie Group. More...

#include <gtsam/geometry/Quaternion.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/testLie.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testQuaternion.cpp:

Go to the source code of this file.

Typedefs
typedef Quaternion	Q
typedef traits< Q >::ChartJacobian	QuaternionJacobian

Functions
int	main ()
	TEST (Quaternion, Concept)
	TEST (Quaternion, Constructor)
	TEST (Quaternion, Logmap)
	TEST (Quaternion, Local)
	TEST (Quaternion, Retract)
	TEST (Quaternion, Compose)
	TEST (Quaternion, Between)
	TEST (Quaternion, Inverse)
	TEST (Quaternion, Invariants)
	TEST (Quaternion, LieGroupDerivatives)
	TEST (Quaternion, ChartDerivatives)

Detailed Description

Unit tests for Quaternion, as a GTSAM-adapted Lie Group.

Author

Frank Dellaert

Definition in file testQuaternion.cpp.

Typedef Documentation

Q

typedef Quaternion Q

Definition at line 27 of file testQuaternion.cpp.

QuaternionJacobian

typedef traits<Q>::ChartJacobian QuaternionJacobian

Definition at line 28 of file testQuaternion.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 142 of file testQuaternion.cpp.

TEST() [1/11]

TEST	(	Quaternion	,
		Concept
	)

Definition at line 31 of file testQuaternion.cpp.

TEST() [2/11]

TEST	(	Quaternion	,
		Constructor
	)

Definition at line 38 of file testQuaternion.cpp.

TEST() [3/11]

TEST	(	Quaternion	,
		Logmap
	)

Definition at line 43 of file testQuaternion.cpp.

TEST() [4/11]

TEST	(	Quaternion	,
		Local
	)

Definition at line 51 of file testQuaternion.cpp.

TEST() [5/11]

TEST	(	Quaternion	,
		Retract
	)

Definition at line 62 of file testQuaternion.cpp.

TEST() [6/11]

TEST	(	Quaternion	,
		Compose
	)

Definition at line 73 of file testQuaternion.cpp.

TEST() [7/11]

TEST	(	Quaternion	,
		Between
	)

Definition at line 84 of file testQuaternion.cpp.

TEST() [8/11]

TEST	(	Quaternion	,
		Inverse
	)

Definition at line 95 of file testQuaternion.cpp.

TEST() [9/11]

TEST	(	Quaternion	,
		Invariants
	)

Definition at line 113 of file testQuaternion.cpp.

TEST() [10/11]

TEST	(	Quaternion	,
		LieGroupDerivatives
	)

Definition at line 126 of file testQuaternion.cpp.

TEST() [11/11]

TEST	(	Quaternion	,
		ChartDerivatives
	)

Definition at line 134 of file testQuaternion.cpp.