testReferenceFrameFactor.cpp File Reference

#include <iostream>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/ReferenceFrameFactor.h>

Include dependency graph for testReferenceFrameFactor.cpp:

Go to the source code of this file.

Typedefs
typedef gtsam::ReferenceFrameFactor< gtsam::Point2, gtsam::Pose2 >	PointReferenceFrameFactor
typedef gtsam::ReferenceFrameFactor< gtsam::Pose2, gtsam::Pose2 >	PoseReferenceFrameFactor

Functions
Vector	evaluateError_ (const PointReferenceFrameFactor &c, const Point2 &global, const Pose2 &trans, const Point2 &local)
int	main ()
	TEST (ReferenceFrameFactor, equals)
	TEST (ReferenceFrameFactor, jacobians)
	TEST (ReferenceFrameFactor, jacobians_zero)
	TEST (ReferenceFrameFactor, converge_trans)
	TEST (ReferenceFrameFactor, converge_local)
	TEST (ReferenceFrameFactor, converge_global)

Variables
Key	lA1 = symbol_shorthand::L(1)
Key	lA2 = symbol_shorthand::L(2)
Key	lB1 = symbol_shorthand::L(11)
Key	lB2 = symbol_shorthand::L(12)
Key	tA1 = symbol_shorthand::T(1)
Key	tB1 = symbol_shorthand::T(2)

Typedef Documentation

PointReferenceFrameFactor

typedef gtsam::ReferenceFrameFactor<gtsam::Point2, gtsam::Pose2> PointReferenceFrameFactor

Definition at line 36 of file testReferenceFrameFactor.cpp.

PoseReferenceFrameFactor

typedef gtsam::ReferenceFrameFactor<gtsam::Pose2, gtsam::Pose2> PoseReferenceFrameFactor

Definition at line 37 of file testReferenceFrameFactor.cpp.

Function Documentation

evaluateError_()

Vector evaluateError_	(	const PointReferenceFrameFactor &	c,
		const Point2 &	global,
		const Pose2 &	trans,
		const Point2 &	local
	)

Definition at line 55 of file testReferenceFrameFactor.cpp.

main()

int main

(

void

)

Definition at line 244 of file testReferenceFrameFactor.cpp.

TEST() [1/6]

TEST	(	ReferenceFrameFactor	,
		equals
	)

Definition at line 43 of file testReferenceFrameFactor.cpp.

TEST() [2/6]

TEST	(	ReferenceFrameFactor	,
		jacobians
	)

Definition at line 59 of file testReferenceFrameFactor.cpp.

TEST() [3/6]

TEST	(	ReferenceFrameFactor	,
		jacobians_zero
	)

Definition at line 86 of file testReferenceFrameFactor.cpp.

TEST() [4/6]

TEST	(	ReferenceFrameFactor	,
		converge_trans
	)

Definition at line 118 of file testReferenceFrameFactor.cpp.

TEST() [5/6]

TEST	(	ReferenceFrameFactor	,
		converge_local
	)

Definition at line 171 of file testReferenceFrameFactor.cpp.

TEST() [6/6]

TEST	(	ReferenceFrameFactor	,
		converge_global
	)

Definition at line 207 of file testReferenceFrameFactor.cpp.

Variable Documentation

lA1

Key lA1 = symbol_shorthand::L(1)

Definition at line 39 of file testReferenceFrameFactor.cpp.

lA2

Key lA2 = symbol_shorthand::L(2)

Definition at line 39 of file testReferenceFrameFactor.cpp.

lB1

Key lB1 = symbol_shorthand::L(11)

Definition at line 39 of file testReferenceFrameFactor.cpp.

lB2

Key lB2 = symbol_shorthand::L(12)

Definition at line 39 of file testReferenceFrameFactor.cpp.

tA1

Key tA1 = symbol_shorthand::T(1)

Definition at line 40 of file testReferenceFrameFactor.cpp.

tB1

Key tB1 = symbol_shorthand::T(2)

Definition at line 40 of file testReferenceFrameFactor.cpp.