testRegularImplicitSchurFactor.cpp File Reference

unit test implicit jacobian factors More...

#include <gtsam/slam/JacobianFactorQ.h>
#include <gtsam/slam/JacobianFactorQR.h>
#include <gtsam/slam/RegularImplicitSchurFactor.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/linear/VectorValues.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/linear/GaussianFactor.h>
#include <gtsam/base/timing.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testRegularImplicitSchurFactor.cpp:

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Functions
int	main (void)
	TEST (regularImplicitSchurFactor, creation)
	TEST (regularImplicitSchurFactor, addHessianMultiply)
	TEST (regularImplicitSchurFactor, hessianDiagonal)

Variables
const Vector	b = (Vector(6) << 1., 2., 3., 4., 5., 6.).finished()
const Matrix26	F0 = Matrix26::Ones()
const Matrix26	F1 = 2 * Matrix26::Ones()
const Matrix26	F3 = 3 * Matrix26::Ones()
const vector< Matrix26, Eigen::aligned_allocator< Matrix26 > >	FBlocks {F0, F1, F3}
const KeyVector	keys {0, 1, 3}

Detailed Description

unit test implicit jacobian factors

Author

Frank Dellaert

Date

Oct 20, 2013

Definition in file testRegularImplicitSchurFactor.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 275 of file testRegularImplicitSchurFactor.cpp.

TEST() [1/3]

TEST	(	regularImplicitSchurFactor	,
		creation
	)

Definition at line 45 of file testRegularImplicitSchurFactor.cpp.

TEST() [2/3]

TEST	(	regularImplicitSchurFactor	,
		addHessianMultiply
	)

Definition at line 57 of file testRegularImplicitSchurFactor.cpp.

TEST() [3/3]

TEST	(	regularImplicitSchurFactor	,
		hessianDiagonal
	)

Definition at line 202 of file testRegularImplicitSchurFactor.cpp.

Variable Documentation

b

const Vector b = (Vector(6) << 1., 2., 3., 4., 5., 6.).finished()

Definition at line 42 of file testRegularImplicitSchurFactor.cpp.

F0

const Matrix26 F0 = Matrix26::Ones()

Definition at line 36 of file testRegularImplicitSchurFactor.cpp.

F1

const Matrix26 F1 = 2 * Matrix26::Ones()

Definition at line 37 of file testRegularImplicitSchurFactor.cpp.

F3

const Matrix26 F3 = 3 * Matrix26::Ones()

Definition at line 38 of file testRegularImplicitSchurFactor.cpp.

FBlocks

const vector<Matrix26, Eigen::aligned_allocator<Matrix26> > FBlocks {F0, F1, F3}

Definition at line 39 of file testRegularImplicitSchurFactor.cpp.

keys

const KeyVector keys {0, 1, 3}

Definition at line 40 of file testRegularImplicitSchurFactor.cpp.