Functions | Variables
testTranslationFactor.cpp File Reference

Unit tests for TranslationFactor Class. More...

#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/sfm/TranslationFactor.h>
#include <CppUnitLite/TestHarness.h>
Include dependency graph for testTranslationFactor.cpp:

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Functions

Vector factorError (const Point3 &T1, const Point3 &T2, const TranslationFactor &factor)
 
static const Key kKey1 (2)
 
static const Key kKey2 (1)
 
int main ()
 
static SharedNoiseModel model (noiseModel::Isotropic::Sigma(3, 0.05))
 
 TEST (TranslationFactor, Constructor)
 
 TEST (TranslationFactor, ZeroError)
 
 TEST (TranslationFactor, NonZeroError)
 
 TEST (TranslationFactor, Jacobian)
 

Variables

static const Unit3 kMeasured (1, 0, 0)
 

Detailed Description

Unit tests for TranslationFactor Class.

Author
Frank dellaert
Date
March 2020

Definition in file testTranslationFactor.cpp.

Function Documentation

◆ factorError()

Vector factorError ( const Point3 T1,
const Point3 T2,
const TranslationFactor factor 
)

Definition at line 74 of file testTranslationFactor.cpp.

◆ kKey1()

static const Key kKey1 ( )
static

◆ kKey2()

static const Key kKey2 ( )

◆ main()

int main ( void  )

Definition at line 103 of file testTranslationFactor.cpp.

◆ model()

static SharedNoiseModel model ( noiseModel::Isotropic::Sigma(3, 0.05)  )
static

◆ TEST() [1/4]

TEST ( TranslationFactor  ,
Constructor   
)

Definition at line 37 of file testTranslationFactor.cpp.

◆ TEST() [2/4]

TEST ( TranslationFactor  ,
ZeroError   
)

Definition at line 42 of file testTranslationFactor.cpp.

◆ TEST() [3/4]

TEST ( TranslationFactor  ,
NonZeroError   
)

Definition at line 58 of file testTranslationFactor.cpp.

◆ TEST() [4/4]

TEST ( TranslationFactor  ,
Jacobian   
)

Definition at line 79 of file testTranslationFactor.cpp.

Variable Documentation

◆ kMeasured

const Unit3 kMeasured(1, 0, 0)
static


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autogenerated on Tue Jul 4 2023 02:40:56