#include <CppUnitLite/TestHarness.h>
#include <gtsam_unstable/dynamics/VelocityConstraint.h>

Include dependency graph for testVelocityConstraint.cpp:

Functions
int	main ()

	TEST (testVelocityConstraint, trapezoidal)

	TEST (testEulerVelocityConstraint, euler_start)

	TEST (testEulerVelocityConstraint, euler_end)

Variables
const double	dt = 1.0

PoseRTV	origin

PoseRTV	pose1 (Point3(0.5, 0.0, 0.0), Rot3(), Velocity3(1.0, 0.0, 0.0))

PoseRTV	pose1a (Point3(0.5, 0.0, 0.0))

PoseRTV	pose2 (Point3(1.5, 0.0, 0.0), Rot3(), Velocity3(1.0, 0.0, 0.0))

const double	tol =1e-5

const Key	x1 = 1

const Key	x2 = 2

Function Documentation

◆ main()

int main ( void )

Definition at line 59 of file testVelocityConstraint.cpp.

◆ TEST() [1/3]

TEST	(	testVelocityConstraint	,
		trapezoidal
	)

Definition at line 23 of file testVelocityConstraint.cpp.

◆ TEST() [2/3]

TEST	(	testEulerVelocityConstraint	,
		euler_start
	)

Definition at line 35 of file testVelocityConstraint.cpp.

◆ TEST() [3/3]

TEST	(	testEulerVelocityConstraint	,
		euler_end
	)

Definition at line 47 of file testVelocityConstraint.cpp.

Variable Documentation

◆ dt

const double dt = 1.0

Definition at line 15 of file testVelocityConstraint.cpp.

◆ origin

PoseRTV origin

Definition at line 17 of file testVelocityConstraint.cpp.

◆ pose1

PoseRTV pose1(Point3(0.5, 0.0, 0.0), Rot3(), Velocity3(1.0, 0.0, 0.0))

◆ pose1a

PoseRTV pose1a(Point3(0.5, 0.0, 0.0))

◆ pose2

PoseRTV pose2(Point3(1.5, 0.0, 0.0), Rot3(), Velocity3(1.0, 0.0, 0.0))

◆ tol

const double tol =1e-5

Definition at line 12 of file testVelocityConstraint.cpp.

◆ x1

const Key x1 = 1

Definition at line 14 of file testVelocityConstraint.cpp.

◆ x2

const Key x2 = 2