Functions | Variables
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


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Author(s):
autogenerated on Tue Jul 4 2023 02:40:56