testRotateFactor.cpp File Reference

#include <gtsam/slam/RotateFactor.h>
#include <gtsam/base/Testable.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>
#include <vector>

Include dependency graph for testRotateFactor.cpp:

Go to the source code of this file.

Typedefs
typedef noiseModel::Isotropic::shared_ptr	Model

Functions
static const Point3	cameraX (0, 1, 0)
static const Point3	cameraY (0, 0, 1)
static const Point3	cameraZ (1, 0, 0)
int	main ()
	TEST (RotateFactor, checkMath)
	TEST (RotateFactor, test)
	TEST (RotateFactor, minimization)
	TEST (RotateDirectionsFactor, test)
	TEST (RotateDirectionsFactor, minimization)
	TEST (RotateDirectionsFactor, Initialization)

Variables
static const Rot3	c1Zc2 = iRc.inverse() * i1Ri2 * iRc
static const Rot3	c2Zc3 = iRc.inverse() * i2Ri3 * iRc
static const Rot3	c3Zc4 = iRc.inverse() * i3Ri4 * iRc
static const Rot3	i1Ri2 = Rot3::AxisAngle(p1, 1)
static const Rot3	i2Ri3 = Rot3::AxisAngle(p2, 1)
static const Rot3	i3Ri4 = Rot3::AxisAngle(p3, 1)
static const Rot3	iRc (cameraX, cameraY, cameraZ)
static const double	kDegree = M_PI / 180
static const Unit3	p1 (1, 0, 0)
static const Unit3	p2 (0, 1, 0)
static const Unit3	p3 (0, 0, 1)
static const Unit3	z1 = iRc.inverse() * p1
static const Unit3	z2 = iRc.inverse() * p2
static const Unit3	z3 = iRc.inverse() * p3

Typedef Documentation

Model

typedef noiseModel::Isotropic::shared_ptr Model

Definition at line 46 of file testRotateFactor.cpp.

Function Documentation

cameraX()

static const Point3 cameraX ( 0  , 1  , 0    )

static

cameraY()

static const Point3 cameraY	(	0	,
		0	,
		1
	)

cameraZ()

static const Point3 cameraZ	(	1	,
		0	,
		0
	)

main()

int main

(

void

)

Definition at line 228 of file testRotateFactor.cpp.

TEST() [1/6]

TEST	(	RotateFactor	,
		checkMath
	)

Definition at line 49 of file testRotateFactor.cpp.

TEST() [2/6]

TEST	(	RotateFactor	,
		test
	)

Definition at line 56 of file testRotateFactor.cpp.

TEST() [3/6]

TEST	(	RotateFactor	,
		minimization
	)

Definition at line 86 of file testRotateFactor.cpp.

TEST() [4/6]

TEST	(	RotateDirectionsFactor	,
		test
	)

Definition at line 125 of file testRotateFactor.cpp.

TEST() [5/6]

TEST	(	RotateDirectionsFactor	,
		minimization
	)

Definition at line 157 of file testRotateFactor.cpp.

TEST() [6/6]

TEST	(	RotateDirectionsFactor	,
		Initialization
	)

Definition at line 195 of file testRotateFactor.cpp.

Variable Documentation

c1Zc2

const Rot3 c1Zc2 = iRc.inverse() * i1Ri2 * iRc

static

Definition at line 37 of file testRotateFactor.cpp.

c2Zc3

const Rot3 c2Zc3 = iRc.inverse() * i2Ri3 * iRc

static

Definition at line 38 of file testRotateFactor.cpp.

c3Zc4

const Rot3 c3Zc4 = iRc.inverse() * i3Ri4 * iRc

static

Definition at line 39 of file testRotateFactor.cpp.

i1Ri2

const Rot3 i1Ri2 = Rot3::AxisAngle(p1, 1)

static

Definition at line 32 of file testRotateFactor.cpp.

i2Ri3

const Rot3 i2Ri3 = Rot3::AxisAngle(p2, 1)

static

Definition at line 33 of file testRotateFactor.cpp.

i3Ri4

const Rot3 i3Ri4 = Rot3::AxisAngle(p3, 1)

static

Definition at line 34 of file testRotateFactor.cpp.

iRc

const Rot3 iRc(cameraX, cameraY, cameraZ)

static

kDegree

const double kDegree = M_PI / 180

static

Definition at line 21 of file testRotateFactor.cpp.

p1

const Unit3 p1(1, 0, 0)

static

p2

const Unit3 p2(0, 1, 0)

p3

const Unit3 p3(0, 0, 1)

z1

const Unit3 z1 = iRc.inverse() * p1

static

Definition at line 42 of file testRotateFactor.cpp.

z2

const Unit3 z2 = iRc.inverse() * p2

static

Definition at line 43 of file testRotateFactor.cpp.

z3

const Unit3 z3 = iRc.inverse() * p3

static

Definition at line 44 of file testRotateFactor.cpp.