testSmartRangeFactor.cpp File Reference

Unit tests for SmartRangeFactor Class. More...

#include <gtsam_unstable/slam/SmartRangeFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testSmartRangeFactor.cpp:

Go to the source code of this file.

Functions
int	main ()
static const Point2	p (0, 10)
	TEST (SmartRangeFactor, constructor)
	TEST (SmartRangeFactor, addRange)
	TEST (SmartRangeFactor, scenario)
	TEST (SmartRangeFactor, unwhitenedError)
	TEST (SmartRangeFactor, optimization)

Variables
static const Pose2	pose1 (0, 0, 0)
static const Pose2	pose2 (5, 0, 0)
static const Pose2	pose3 (5, 5, 0)
static const double	r1 = pose1.range(p)
static const double	r2 = pose2.range(p)
static const double	r3
static const double	sigma = 2.0

Detailed Description

Unit tests for SmartRangeFactor Class.

Author

Frank Dellaert

Date

Nov 2013

Definition in file testSmartRangeFactor.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 133 of file testSmartRangeFactor.cpp.

p()

static const Point2 p ( 0  , 10    )

static

TEST() [1/5]

TEST	(	SmartRangeFactor	,
		constructor
	)

Definition at line 37 of file testSmartRangeFactor.cpp.

TEST() [2/5]

TEST	(	SmartRangeFactor	,
		addRange
	)

Definition at line 45 of file testSmartRangeFactor.cpp.

TEST() [3/5]

TEST	(	SmartRangeFactor	,
		scenario
	)

Definition at line 53 of file testSmartRangeFactor.cpp.

TEST() [4/5]

TEST	(	SmartRangeFactor	,
		unwhitenedError
	)

Definition at line 60 of file testSmartRangeFactor.cpp.

TEST() [5/5]

TEST	(	SmartRangeFactor	,
		optimization
	)

Definition at line 99 of file testSmartRangeFactor.cpp.

Variable Documentation

pose1

const Pose2 pose1(0, 0, 0)

static

pose2

const Pose2 pose2(5, 0, 0)

pose3

const Pose2 pose3(5, 5, 0)

r1

const double r1 = pose1.range(p)

static

Definition at line 32 of file testSmartRangeFactor.cpp.

r2

const double r2 = pose2.range(p)

static

Definition at line 32 of file testSmartRangeFactor.cpp.

r3

const double r3

static

Initial value:

= pose3.range(
    p)

Definition at line 32 of file testSmartRangeFactor.cpp.

sigma

const double sigma = 2.0

static

Definition at line 27 of file testSmartRangeFactor.cpp.