Unit tests for SO4, as a GTSAM-adapted Lie Group. More...

#include <gtsam/base/Manifold.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/lieProxies.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/SO4.h>
#include <gtsam/geometry/SO3.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>
#include <random>

Include dependency graph for testSO4.cpp:

Go to the source code of this file.

Functions
int	main ()

	TEST (SO4, Identity)

	TEST (SO4, Concept)

	TEST (SO4, Random)

	TEST (SO4, Expmap)

	TEST (SO4, Hat)

	TEST (SO4, Vee)

	TEST (SO4, Retract)

	TEST (SO4, Local)

	TEST (SO4, Invariants)

	TEST (SO4, compose)

	TEST (SO4, vec)

	TEST (SO4, topLeft)

	TEST (SO4, stiefel)

Detailed Description

Unit tests for SO4, as a GTSAM-adapted Lie Group.

Author: Frank Dellaert

Definition in file testSO4.cpp.

Function Documentation

◆ main()

int main ( void )

Definition at line 204 of file testSO4.cpp.

◆ TEST() [1/13]

TEST	(	SO4	,
		Identity
	)

Definition at line 34 of file testSO4.cpp.

◆ TEST() [2/13]

TEST	(	SO4	,
		Concept
	)

Definition at line 44 of file testSO4.cpp.

◆ TEST() [3/13]

TEST	(	SO4	,
		Random
	)

Definition at line 51 of file testSO4.cpp.

◆ TEST() [4/13]

TEST	(	SO4	,
		Expmap
	)

Definition at line 69 of file testSO4.cpp.

◆ TEST() [5/13]

TEST	(	SO4	,
		Hat
	)

Definition at line 91 of file testSO4.cpp.

◆ TEST() [6/13]

TEST	(	SO4	,
		Vee
	)

Definition at line 99 of file testSO4.cpp.

◆ TEST() [7/13]

TEST	(	SO4	,
		Retract
	)

Definition at line 107 of file testSO4.cpp.

◆ TEST() [8/13]

TEST	(	SO4	,
		Local
	)

Definition at line 123 of file testSO4.cpp.

◆ TEST() [9/13]

TEST	(	SO4	,
		Invariants
	)

Definition at line 135 of file testSO4.cpp.

◆ TEST() [10/13]

TEST	(	SO4	,
		compose
	)

Definition at line 150 of file testSO4.cpp.

◆ TEST() [11/13]

TEST	(	SO4	,
		vec
	)

Definition at line 166 of file testSO4.cpp.

◆ TEST() [12/13]

TEST	(	SO4	,
		topLeft
	)

Definition at line 178 of file testSO4.cpp.

◆ TEST() [13/13]

TEST	(	SO4	,
		stiefel
	)

Definition at line 191 of file testSO4.cpp.

Functions