#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/serializationTestHelpers.h>
#include <gtsam/geometry/Unit3.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>
#include <random>

Include dependency graph for testUnit3.cpp:

Functions
Vector6	BasisTest (const Unit3 &p, OptionalJacobian< 6, 2 > H)

int	main ()

Point3	point3_ (const Unit3 &p)

static Unit3	rotate_ (const Rot3 &R, const Unit3 &p)

	TEST (Unit3, point3)

	TEST (Unit3, rotate)

	TEST (Unit3, unrotate)

	TEST (Unit3, dot)

	TEST (Unit3, error)

	TEST (Unit3, error2)

	TEST (Unit3, distance)

	TEST (Unit3, localCoordinates0)

	TEST (Unit3, localCoordinates)

	TEST (Unit3, basis)

	TEST (Unit3, basis_derivatives)
	Check the basis derivatives of a bunch of random Unit3s. More...

	TEST (Unit3, retract)

	TEST (Unit3, jacobian_retract)

	TEST (Unit3, retract_expmap)

	TEST (Unit3, Random)

	TEST (Unit3, localCoordinates_retract)

	TEST (Unit3, FromPoint3)

	TEST (Unit3, ErrorBetweenFactor)

	TEST (Unit3, CopyAssign)

static Unit3	unrotate_ (const Rot3 &R, const Unit3 &p)

Function Documentation

◆ BasisTest()

Vector6 BasisTest	(	const Unit3 &	p,
		OptionalJacobian< 6, 2 >	H
	)

Definition at line 311 of file testUnit3.cpp.

◆ main()

int main ( void )

Definition at line 513 of file testUnit3.cpp.

◆ point3_()

Point3 point3_ ( const Unit3 & p )

Definition at line 46 of file testUnit3.cpp.

◆ rotate_()

static Unit3 rotate_	(	const Rot3 &	R,
		const Unit3 &	p
	)

static

Definition at line 63 of file testUnit3.cpp.

◆ TEST() [1/19]

TEST	(	Unit3	,
		point3
	)

Definition at line 50 of file testUnit3.cpp.

◆ TEST() [2/19]

TEST	(	Unit3	,
		rotate
	)

Definition at line 67 of file testUnit3.cpp.

◆ TEST() [3/19]

TEST	(	Unit3	,
		unrotate
	)

Definition at line 92 of file testUnit3.cpp.

◆ TEST() [4/19]

TEST	(	Unit3	,
		dot
	)

Definition at line 113 of file testUnit3.cpp.

◆ TEST() [5/19]

TEST	(	Unit3	,
		error
	)

Definition at line 146 of file testUnit3.cpp.

◆ TEST() [6/19]

TEST	(	Unit3	,
		error2
	)

Definition at line 170 of file testUnit3.cpp.

◆ TEST() [7/19]

TEST	(	Unit3	,
		distance
	)

Definition at line 217 of file testUnit3.cpp.

◆ TEST() [8/19]

TEST	(	Unit3	,
		localCoordinates0
	)

Definition at line 241 of file testUnit3.cpp.

◆ TEST() [9/19]

TEST	(	Unit3	,
		localCoordinates
	)

Definition at line 247 of file testUnit3.cpp.

◆ TEST() [10/19]

TEST	(	Unit3	,
		basis
	)

Definition at line 318 of file testUnit3.cpp.

◆ TEST() [11/19]

TEST	(	Unit3	,
		basis_derivatives
	)

Check the basis derivatives of a bunch of random Unit3s.

Definition at line 345 of file testUnit3.cpp.

◆ TEST() [12/19]

TEST	(	Unit3	,
		retract
	)

Definition at line 361 of file testUnit3.cpp.

◆ TEST() [13/19]

TEST	(	Unit3	,
		jacobian_retract
	)

Definition at line 380 of file testUnit3.cpp.

◆ TEST() [14/19]

TEST	(	Unit3	,
		retract_expmap
	)

Definition at line 400 of file testUnit3.cpp.

◆ TEST() [15/19]

TEST	(	Unit3	,
		Random
	)

Definition at line 410 of file testUnit3.cpp.

◆ TEST() [16/19]

TEST	(	Unit3	,
		localCoordinates_retract
	)

Definition at line 422 of file testUnit3.cpp.

◆ TEST() [17/19]

TEST	(	Unit3	,
		FromPoint3
	)

Definition at line 441 of file testUnit3.cpp.

◆ TEST() [18/19]

TEST	(	Unit3	,
		ErrorBetweenFactor
	)

Definition at line 452 of file testUnit3.cpp.

◆ TEST() [19/19]

TEST	(	Unit3	,
		CopyAssign
	)

Definition at line 492 of file testUnit3.cpp.

◆ unrotate_()

static Unit3 unrotate_	(	const Rot3 &	R,
		const Unit3 &	p
	)