testScenarioRunner.cpp File Reference

test ImuFacor with ScenarioRunner class More...

#include <gtsam/navigation/ScenarioRunner.h>
#include <gtsam/base/timing.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>

Include dependency graph for testScenarioRunner.cpp:

Go to the source code of this file.

Namespaces
	accelerating
	accelerating2
	accelerating3
	accelerating4
	forward
	initial
	initial2
	initial3
	initial4

Macros
#define	EXPECT_NEAR(a, b, c)   EXPECT(assert_equal(Vector(a), Vector(b), c));

Functions
const Vector3	accelerating::A (0, a, 0)
const Vector3	accelerating2::A (0, a, 0)
const Vector3	accelerating3::A (0, a, 0)
const Vector3	accelerating4::A (0, a, 0)
static std::shared_ptr< PreintegrationParams >	defaultParams ()
static const Vector3	kAccBias (0.2, 0, 0)
static const Vector3	kRotBias (0.1, 0, 0.3)
int	main ()
const Point3	initial::P0 (0, 0, 0)
const Point3	initial2::P0 (10, 20, 0)
const Point3	initial3::P0 (0, 0, 0)
const Point3	initial4::P0 (10, 20, 0)
const AcceleratingScenario	accelerating::scenario (nRb, P0, V0, A)
const AcceleratingScenario	accelerating2::scenario (nRb, P0, V0, A)
const AcceleratingScenario	accelerating3::scenario (nRb, P0, V0, A)
const AcceleratingScenario	accelerating4::scenario (nRb, P0, V0, A)
	TEST (ScenarioRunner, Spin)
	TEST (ScenarioRunner, Forward)
	TEST (ScenarioRunner, ForwardWithBias)
	TEST (ScenarioRunner, Circle)
	TEST (ScenarioRunner, Loop)
	TEST (ScenarioRunner, Accelerating)
	TEST (ScenarioRunner, AcceleratingWithBias)
	TEST (ScenarioRunner, AcceleratingAndRotating)
	TEST (ScenarioRunner, Accelerating2)
	TEST (ScenarioRunner, AcceleratingWithBias2)
	TEST (ScenarioRunner, AcceleratingAndRotating2)
	TEST (ScenarioRunner, Accelerating3)
	TEST (ScenarioRunner, AcceleratingWithBias3)
	TEST (ScenarioRunner, AcceleratingAndRotating3)
	TEST (ScenarioRunner, Accelerating4)
	TEST (ScenarioRunner, AcceleratingWithBias4)
	TEST (ScenarioRunner, AcceleratingAndRotating4)
const Vector3	initial::V0 (0, 0, 0)
const Vector3	initial2::V0 (50, 0, 0)
const Vector3	initial3::V0 (0, 0, 0)
const Vector3	initial4::V0 (50, 0, 0)

Variables
const double	accelerating::a = 0.2
const double	accelerating2::a = 0.2
const double	accelerating3::a = 0.2
const double	accelerating4::a = 0.2
static const double	kAccelSigma = 0.1 / 60.0
static const double	kDegree = M_PI / 180.0
static const double	kDt = 1e-2
static const double	kGyroSigma = 0.5 * kDegree / 60
static const imuBias::ConstantBias	kNonZeroBias (kAccBias, kRotBias)
const Rot3	initial::nRb
const Rot3	initial2::nRb
const Rot3	initial3::nRb (Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1))
const Rot3	initial4::nRb (Point3(0, 1, 0), Point3(1, 0, 0), Point3(0, 0, -1))
ConstantTwistScenario	forward::scenario (Z_3x1, Vector3(v, 0, 0))
const double	accelerating::T = 3
const double	accelerating2::T = 3
const double	accelerating3::T = 3
const double	accelerating4::T = 3
const double	forward::v = 2

Detailed Description

test ImuFacor with ScenarioRunner class

Author

Frank Dellaert

Definition in file testScenarioRunner.cpp.

Macro Definition Documentation

EXPECT_NEAR

#define EXPECT_NEAR	(		a,
			b,
			c
	)		EXPECT(assert_equal(Vector(a), Vector(b), c));

Definition at line 47 of file testScenarioRunner.cpp.

Function Documentation

defaultParams()

static std::shared_ptr<PreintegrationParams> defaultParams ( )

static

Definition at line 39 of file testScenarioRunner.cpp.

kAccBias()

static const Vector3 kAccBias ( 0.  2, 0  , 0    )

static

kRotBias()

static const Vector3 kRotBias	(	0.	1,
		0	,
		0.	3
	)

main()

int main

(

void

)

Definition at line 398 of file testScenarioRunner.cpp.

TEST() [1/17]

TEST	(	ScenarioRunner	,
		Spin
	)

Definition at line 50 of file testScenarioRunner.cpp.

TEST() [2/17]

TEST	(	ScenarioRunner	,
		Forward
	)

Definition at line 84 of file testScenarioRunner.cpp.

TEST() [3/17]

TEST	(	ScenarioRunner	,
		ForwardWithBias
	)

Definition at line 99 of file testScenarioRunner.cpp.

TEST() [4/17]

TEST	(	ScenarioRunner	,
		Circle
	)

Definition at line 111 of file testScenarioRunner.cpp.

TEST() [5/17]

TEST	(	ScenarioRunner	,
		Loop
	)

Definition at line 129 of file testScenarioRunner.cpp.

TEST() [6/17]

TEST	(	ScenarioRunner	,
		Accelerating
	)

Definition at line 165 of file testScenarioRunner.cpp.

TEST() [7/17]

TEST	(	ScenarioRunner	,
		AcceleratingWithBias
	)

Definition at line 179 of file testScenarioRunner.cpp.

TEST() [8/17]

TEST	(	ScenarioRunner	,
		AcceleratingAndRotating
	)

Definition at line 190 of file testScenarioRunner.cpp.

TEST() [9/17]

TEST	(	ScenarioRunner	,
		Accelerating2
	)

Definition at line 227 of file testScenarioRunner.cpp.

TEST() [10/17]

TEST	(	ScenarioRunner	,
		AcceleratingWithBias2
	)

Definition at line 241 of file testScenarioRunner.cpp.

TEST() [11/17]

TEST	(	ScenarioRunner	,
		AcceleratingAndRotating2
	)

Definition at line 252 of file testScenarioRunner.cpp.

TEST() [12/17]

TEST	(	ScenarioRunner	,
		Accelerating3
	)

Definition at line 290 of file testScenarioRunner.cpp.

TEST() [13/17]

TEST	(	ScenarioRunner	,
		AcceleratingWithBias3
	)

Definition at line 304 of file testScenarioRunner.cpp.

TEST() [14/17]

TEST	(	ScenarioRunner	,
		AcceleratingAndRotating3
	)

Definition at line 315 of file testScenarioRunner.cpp.

TEST() [15/17]

TEST	(	ScenarioRunner	,
		Accelerating4
	)

Definition at line 354 of file testScenarioRunner.cpp.

TEST() [16/17]

TEST	(	ScenarioRunner	,
		AcceleratingWithBias4
	)

Definition at line 368 of file testScenarioRunner.cpp.

TEST() [17/17]

TEST	(	ScenarioRunner	,
		AcceleratingAndRotating4
	)

Definition at line 379 of file testScenarioRunner.cpp.

Variable Documentation

kAccelSigma

const double kAccelSigma = 0.1 / 60.0

static

Definition at line 33 of file testScenarioRunner.cpp.

kDegree

const double kDegree = M_PI / 180.0

static

Definition at line 28 of file testScenarioRunner.cpp.

kDt

const double kDt = 1e-2

static

Definition at line 29 of file testScenarioRunner.cpp.

kGyroSigma

const double kGyroSigma = 0.5 * kDegree / 60

static

Definition at line 32 of file testScenarioRunner.cpp.

kNonZeroBias

const imuBias::ConstantBias kNonZeroBias(kAccBias, kRotBias)

static