Functions | Variables
testRelativeElevationFactor.cpp File Reference
#include <CppUnitLite/TestHarness.h>
#include <gtsam_unstable/slam/RelativeElevationFactor.h>
#include <gtsam/base/numericalDerivative.h>
Include dependency graph for testRelativeElevationFactor.cpp:

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Functions

Vector evalFactorError (const RelativeElevationFactor &factor, const Pose3 &x, const Point3 &p)
 
int main ()
 
const Point3 point1 (3.0, 4.0, 2.0)
 
 TEST (testRelativeElevationFactor, level_zero_error)
 
 TEST (testRelativeElevationFactor, level_positive)
 
 TEST (testRelativeElevationFactor, level_negative)
 
 TEST (testRelativeElevationFactor, rotated_zero_error)
 
 TEST (testRelativeElevationFactor, rotated_positive)
 
 TEST (testRelativeElevationFactor, rotated_negative1)
 
 TEST (testRelativeElevationFactor, rotated_negative2)
 

Variables

SharedNoiseModel model1 = noiseModel::Unit::Create(1)
 
const gtsam::Key pointKey = 2
 
const Pose3 pose1 (Rot3(), Point3(2.0, 3.0, 4.0))
 
const Pose3 pose2 (Rot3::Pitch(-M_PI_2), Point3(2.0, 3.0, 4.0))
 
const Pose3 pose3 (Rot3::RzRyRx(0.1, 0.2, 0.3), Point3(2.0, 3.0, 4.0))
 
const gtsam::Key poseKey = 1
 
const double tol = 1e-5
 

Detailed Description

Date
Aug 17, 2012
Author
Alex Cunningham

Definition in file testRelativeElevationFactor.cpp.

Function Documentation

◆ evalFactorError()

Vector evalFactorError ( const RelativeElevationFactor factor,
const Pose3 x,
const Point3 p 
)

Definition at line 28 of file testRelativeElevationFactor.cpp.

◆ main()

int main ( void  )

Definition at line 166 of file testRelativeElevationFactor.cpp.

◆ point1()

const Point3 point1 ( 3.  0,
4.  0,
2.  0 
)

◆ TEST() [1/7]

TEST ( testRelativeElevationFactor  ,
level_zero_error   
)

Definition at line 33 of file testRelativeElevationFactor.cpp.

◆ TEST() [2/7]

TEST ( testRelativeElevationFactor  ,
level_positive   
)

Definition at line 52 of file testRelativeElevationFactor.cpp.

◆ TEST() [3/7]

TEST ( testRelativeElevationFactor  ,
level_negative   
)

Definition at line 71 of file testRelativeElevationFactor.cpp.

◆ TEST() [4/7]

TEST ( testRelativeElevationFactor  ,
rotated_zero_error   
)

Definition at line 90 of file testRelativeElevationFactor.cpp.

◆ TEST() [5/7]

TEST ( testRelativeElevationFactor  ,
rotated_positive   
)

Definition at line 109 of file testRelativeElevationFactor.cpp.

◆ TEST() [6/7]

TEST ( testRelativeElevationFactor  ,
rotated_negative1   
)

Definition at line 128 of file testRelativeElevationFactor.cpp.

◆ TEST() [7/7]

TEST ( testRelativeElevationFactor  ,
rotated_negative2   
)

Definition at line 147 of file testRelativeElevationFactor.cpp.

Variable Documentation

◆ model1

SharedNoiseModel model1 = noiseModel::Unit::Create(1)

Definition at line 17 of file testRelativeElevationFactor.cpp.

◆ pointKey

const gtsam::Key pointKey = 2

Definition at line 25 of file testRelativeElevationFactor.cpp.

◆ pose1

const Pose3 pose1(Rot3(), Point3(2.0, 3.0, 4.0))

◆ pose2

const Pose3 pose2(Rot3::Pitch(-M_PI_2), Point3(2.0, 3.0, 4.0))

◆ pose3

const Pose3 pose3(Rot3::RzRyRx(0.1, 0.2, 0.3), Point3(2.0, 3.0, 4.0))

◆ poseKey

const gtsam::Key poseKey = 1

Definition at line 25 of file testRelativeElevationFactor.cpp.

◆ tol

const double tol = 1e-5

Definition at line 19 of file testRelativeElevationFactor.cpp.



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autogenerated on Tue Jul 4 2023 02:40:56