Namespaces | Functions | Variables
testShonanFactor.cpp File Reference
#include <gtsam/base/lieProxies.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/SO3.h>
#include <gtsam/geometry/SO4.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/sfm/ShonanFactor.h>
#include <gtsam/slam/FrobeniusFactor.h>
#include <CppUnitLite/TestHarness.h>
Include dependency graph for testShonanFactor.cpp:

Go to the source code of this file.

Namespaces

 so3
 
 submanifold
 

Functions

int main ()
 
 TEST (ShonanFactor3, evaluateError)
 
 TEST (ShonanFactor3, equivalenceToSO3)
 
 TEST (ShonanFactor2, evaluateError)
 

Variables

SO3 so3::id
 
SO4 submanifold::id
 
SO4 submanifold::Q1 = SO4::Expmap(v1)
 
SO4 submanifold::Q2 = SO4::Expmap(v2)
 
SO3 so3::R1 = SO3::Expmap(v1)
 
SO3 submanifold::R1 = SO3::Expmap(v1.tail<3>())
 
SO3 so3::R12 = R1.between(R2)
 
SO3 submanifold::R12 = R1.between(R2)
 
SO3 so3::R2 = SO3::Expmap(v2)
 
SO3 submanifold::R2 = SO3::Expmap(v2.tail<3>())
 
Vector3 so3::v1 = (Vector(3) << 0.1, 0, 0).finished()
 
Vector6 submanifold::v1 = (Vector(6) << 0, 0, 0, 0.1, 0, 0).finished()
 
Vector3 so3::v2 = (Vector(3) << 0.01, 0.02, 0.03).finished()
 
Vector6 submanifold::v2 = (Vector(6) << 0, 0, 0, 0.01, 0.02, 0.03).finished()
 

Function Documentation

◆ main()

int main ( void  )

Definition at line 117 of file testShonanFactor.cpp.

◆ TEST() [1/3]

TEST ( ShonanFactor3  ,
evaluateError   
)

Definition at line 60 of file testShonanFactor.cpp.

◆ TEST() [2/3]

TEST ( ShonanFactor3  ,
equivalenceToSO3   
)

Definition at line 81 of file testShonanFactor.cpp.

◆ TEST() [3/3]

TEST ( ShonanFactor2  ,
evaluateError   
)

Definition at line 95 of file testShonanFactor.cpp.



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autogenerated on Tue Jul 4 2023 02:40:56