testTangentPreintegration.cpp File Reference

Unit test for the InertialNavFactor. More...

#include <gtsam/navigation/TangentPreintegration.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <CppUnitLite/TestHarness.h>
#include "imuFactorTesting.h"

Include dependency graph for testTangentPreintegration.cpp:

Go to the source code of this file.

Namespaces
	testing

Functions
Vector9	f (const Vector9 &zeta, const Vector3 &a, const Vector3 &w)
int	main ()
static std::shared_ptr< PreintegrationParams >	testing::Params ()
	TEST (TangentPreintegration, UpdateEstimate1)
	TEST (TangentPreintegration, UpdateEstimate2)
	TEST (ImuFactor, BiasCorrectionJacobians)
	TEST (TangentPreintegration, computeError)
	TEST (TangentPreintegration, Compose)
	TEST (TangentPreintegration, MergedBiasDerivatives)

Variables
static const double	kDt = 0.1

Detailed Description

Unit test for the InertialNavFactor.

Author

Frank Dellaert

Definition in file testTangentPreintegration.cpp.

Function Documentation

f()

Vector9 f	(	const Vector9 &	zeta,
		const Vector3 &	a,
		const Vector3 &	w
	)

Definition at line 32 of file testTangentPreintegration.cpp.

main()

int main

(

void

)

Definition at line 171 of file testTangentPreintegration.cpp.

TEST() [1/6]

TEST	(	TangentPreintegration	,
		UpdateEstimate1
	)

Definition at line 48 of file testTangentPreintegration.cpp.

TEST() [2/6]

TEST	(	TangentPreintegration	,
		UpdateEstimate2
	)

Definition at line 62 of file testTangentPreintegration.cpp.

TEST() [3/6]

TEST	(	ImuFactor	,
		BiasCorrectionJacobians
	)

Definition at line 77 of file testTangentPreintegration.cpp.

TEST() [4/6]

TEST	(	TangentPreintegration	,
		computeError
	)

Definition at line 100 of file testTangentPreintegration.cpp.

TEST() [5/6]

TEST	(	TangentPreintegration	,
		Compose
	)

Definition at line 120 of file testTangentPreintegration.cpp.

TEST() [6/6]

TEST	(	TangentPreintegration	,
		MergedBiasDerivatives
	)

Definition at line 149 of file testTangentPreintegration.cpp.

Variable Documentation

kDt

const double kDt = 0.1

static

Definition at line 30 of file testTangentPreintegration.cpp.