testSerializationNonlinear.cpp File Reference

#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/base/serializationTestHelpers.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testSerializationNonlinear.cpp:

Go to the source code of this file.

Classes
struct	detail::pack< T >

Namespaces
	detail

Typedefs
typedef PinholeCamera< Cal3Bundler >	PinholeCal3Bundler
typedef PinholeCamera< Cal3DS2 >	PinholeCal3DS2
typedef PinholeCamera< Cal3_S2 >	PinholeCal3S2

Functions
int	main ()
static Point3	pt3 (1.0, 2.0, 3.0)
	TEST (Serialization, TemplatedValues)
	TEST (Serialization, NoiseModelFactor1_backwards_compatibility)
	TEST (Serialization, ISAM2)

Variables
static Cal3_S2	cal1 (1.0, 2.0, 0.3, 0.1, 0.5)
static Cal3DS2	cal2 (1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0)
static Cal3Bundler	cal3 (1.0, 2.0, 3.0)
static Pose3	pose3 (rt3, pt3)
static Rot3	rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0)

Detailed Description

Author

Richard Roberts

Date

Feb 7, 2012

Definition in file testSerializationNonlinear.cpp.

Typedef Documentation

PinholeCal3Bundler

typedef PinholeCamera<Cal3Bundler> PinholeCal3Bundler

Definition at line 79 of file testSerializationNonlinear.cpp.

PinholeCal3DS2

typedef PinholeCamera<Cal3DS2> PinholeCal3DS2

Definition at line 78 of file testSerializationNonlinear.cpp.

PinholeCal3S2

typedef PinholeCamera<Cal3_S2> PinholeCal3S2

Definition at line 77 of file testSerializationNonlinear.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 218 of file testSerializationNonlinear.cpp.

pt3()

static Point3 pt3 ( 1.  0, 2.  0, 3.  0  )

static

TEST() [1/3]

TEST	(	Serialization	,
		TemplatedValues
	)

Definition at line 90 of file testSerializationNonlinear.cpp.

TEST() [2/3]

TEST	(	Serialization	,
		NoiseModelFactor1_backwards_compatibility
	)

Test deserializing from a known serialization generated by code from commit 0af17f438f62f4788f3a572ecd36d06d224fd1e1 (>4.2a7) We only test that deserialization matches since (1) that's the main backward compatibility requirement and (2) serialized string depends on boost version Also note: we don't run this test when quaternions or TBB are enabled since serialization structures are different and the serialized strings/xml are hard-coded in this test.

Definition at line 120 of file testSerializationNonlinear.cpp.

TEST() [3/3]

TEST	(	Serialization	,
		ISAM2
	)

Definition at line 163 of file testSerializationNonlinear.cpp.

Variable Documentation

cal1

Cal3_S2 cal1(1.0, 2.0, 0.3, 0.1, 0.5)

static

cal2

Cal3DS2 cal2(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0)

static

cal3

Cal3Bundler cal3(1.0, 2.0, 3.0)

static

pose3

Pose3 pose3(rt3, pt3)

static

rt3

Rot3 rt3 = Rot3::RzRyRx(1.0, 3.0, 2.0)

static

Definition at line 83 of file testSerializationNonlinear.cpp.