testSimilarity3.cpp File Reference

Unit tests for Similarity3 class. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Similarity3.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ExpressionFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/slam/BetweenFactor.h>
#include <functional>

Include dependency graph for testSimilarity3.cpp:

Go to the source code of this file.

Functions
int	main ()
static const Point3	P (0.2, 0.7, -2)
	TEST (Similarity3, Concepts)
	TEST (Similarity3, Constructors)
	TEST (Similarity3, Getters)
	TEST (Similarity3, AdjointMap)
	TEST (Similarity3, inverse)
	TEST (Similarity3, Multiplication)
	TEST (Similarity3, Manifold)
	TEST (Similarity3, retract_first_order)
	TEST (Similarity3, localCoordinates_first_order)
	TEST (Similarity3, manifold_first_order)
	TEST (Similarity3, Matrix)
	TEST (Similarity3, ExpLogMap)
	TEST (Similarity3, GroupAction)
	TEST (Similarity3, GroupActionPose3)
	TEST (Similarity3, GroupActionPose3_Compatibility)
	TEST (Similarity3, AlignPoint3_1)
	TEST (Similarity3, AlignPoint3_2)
	TEST (Similarity3, AlignPoint3_3)
	TEST (Similarity3, AlignPose3)
	TEST (Similarity3, Optimization)
	TEST (Similarity3, Optimization2)
	TEST (Similarity3, AlignScaledPointClouds)
	TEST (Similarity3, Invariants)
	TEST (Similarity3, LieGroupDerivatives)

Variables
const double	degree = M_PI / 180
static const Similarity3	id
static const Rot3	R = Rot3::Rodrigues(0.3, 0, 0)
static const double	s = 4
static const Similarity3	T1 (R, Point3(3.5, -8.2, 4.2), 1)
static const Similarity3	T2 (Rot3::Rodrigues(0.3, 0.2, 0.1), Point3(3.5, -8.2, 4.2), 1)
static const Similarity3	T3 (Rot3::Rodrigues(-90, 0, 0), Point3(1, 2, 3), 1)
static const Similarity3	T4 (R, P, s)
static const Similarity3	T5 (R, P, 10)
static const Similarity3	T6 (Rot3(), Point3(1, 1, 0), 2)

Detailed Description

Unit tests for Similarity3 class.

Author

Paul Drews

Zhaoyang Lv

Definition in file testSimilarity3.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 531 of file testSimilarity3.cpp.

P()

static const Point3 P ( 0.  2, 0.  7, -  2  )

static

TEST() [1/24]

TEST	(	Similarity3	,
		Concepts
	)

Definition at line 56 of file testSimilarity3.cpp.

TEST() [2/24]

TEST	(	Similarity3	,
		Constructors
	)

Definition at line 63 of file testSimilarity3.cpp.

TEST() [3/24]

TEST	(	Similarity3	,
		Getters
	)

Definition at line 71 of file testSimilarity3.cpp.

TEST() [4/24]

TEST	(	Similarity3	,
		AdjointMap
	)

Definition at line 84 of file testSimilarity3.cpp.

TEST() [5/24]

TEST	(	Similarity3	,
		inverse
	)

Definition at line 95 of file testSimilarity3.cpp.

TEST() [6/24]

TEST	(	Similarity3	,
		Multiplication
	)

Definition at line 111 of file testSimilarity3.cpp.

TEST() [7/24]

TEST	(	Similarity3	,
		Manifold
	)

Definition at line 122 of file testSimilarity3.cpp.

TEST() [8/24]

TEST	(	Similarity3	,
		retract_first_order
	)

Definition at line 157 of file testSimilarity3.cpp.

TEST() [9/24]

TEST	(	Similarity3	,
		localCoordinates_first_order
	)

Definition at line 169 of file testSimilarity3.cpp.

TEST() [10/24]

TEST	(	Similarity3	,
		manifold_first_order
	)

Definition at line 177 of file testSimilarity3.cpp.

TEST() [11/24]

TEST	(	Similarity3	,
		Matrix
	)

Definition at line 189 of file testSimilarity3.cpp.

TEST() [12/24]

TEST	(	Similarity3	,
		ExpLogMap
	)

Definition at line 198 of file testSimilarity3.cpp.

TEST() [13/24]

TEST	(	Similarity3	,
		GroupAction
	)

Definition at line 220 of file testSimilarity3.cpp.

TEST() [14/24]

TEST	(	Similarity3	,
		GroupActionPose3
	)

Definition at line 266 of file testSimilarity3.cpp.

TEST() [15/24]

TEST	(	Similarity3	,
		GroupActionPose3_Compatibility
	)

Definition at line 287 of file testSimilarity3.cpp.

TEST() [16/24]

TEST	(	Similarity3	,
		AlignPoint3_1
	)

Definition at line 309 of file testSimilarity3.cpp.

TEST() [17/24]

TEST	(	Similarity3	,
		AlignPoint3_2
	)

Definition at line 324 of file testSimilarity3.cpp.

TEST() [18/24]

TEST	(	Similarity3	,
		AlignPoint3_3
	)

Definition at line 339 of file testSimilarity3.cpp.

TEST() [19/24]

TEST	(	Similarity3	,
		AlignPose3
	)

Definition at line 356 of file testSimilarity3.cpp.

TEST() [20/24]

TEST	(	Similarity3	,
		Optimization
	)

Definition at line 384 of file testSimilarity3.cpp.

TEST() [21/24]

TEST	(	Similarity3	,
		Optimization2
	)

Definition at line 410 of file testSimilarity3.cpp.

TEST() [22/24]

TEST	(	Similarity3	,
		AlignScaledPointClouds
	)

Definition at line 480 of file testSimilarity3.cpp.

TEST() [23/24]

TEST	(	Similarity3	,
		Invariants
	)

Definition at line 506 of file testSimilarity3.cpp.

TEST() [24/24]

TEST	(	Similarity3	,
		LieGroupDerivatives
	)

Definition at line 521 of file testSimilarity3.cpp.

Variable Documentation

degree

const double degree = M_PI / 180

Definition at line 53 of file testSimilarity3.cpp.

id

const Similarity3 id

static

Definition at line 44 of file testSimilarity3.cpp.

R

const Rot3 R = Rot3::Rodrigues(0.3, 0, 0)

static

Definition at line 42 of file testSimilarity3.cpp.

s

const double s = 4

static

Definition at line 43 of file testSimilarity3.cpp.

T1

const Similarity3 T1(R, Point3(3.5, -8.2, 4.2), 1)

static

T2

const Similarity3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), Point3(3.5, -8.2, 4.2), 1)

static

T3

const Similarity3 T3(Rot3::Rodrigues(-90, 0, 0), Point3(1, 2, 3), 1)

static

T4

const Similarity3 T4(R, P, s)

static

T5

const Similarity3 T5(R, P, 10)

static

T6

const Similarity3 T6(Rot3(), Point3(1, 1, 0), 2)

static