Functions | Variables
testAHRSFactor.cpp File Reference

Unit test for AHRSFactor. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/debug.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/navigation/AHRSFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/slam/BetweenFactor.h>
#include <cmath>
#include <list>
#include <memory>
#include "gtsam/nonlinear/LevenbergMarquardtParams.h"
Include dependency graph for testAHRSFactor.cpp:

Go to the source code of this file.

Functions

Vector3 kZeroOmegaCoriolis (0, 0, 0)
 
int main ()
 
 TEST (AHRSFactor, bodyPSensorWithBias)
 
 TEST (AHRSFactor, Error)
 
 TEST (AHRSFactor, ErrorWithBiases)
 
 TEST (AHRSFactor, ErrorWithBiasesAndSensorBodyDisplacement)
 
 TEST (AHRSFactor, FirstOrderPreIntegratedMeasurements)
 
 TEST (AHRSFactor, fistOrderExponential)
 
 TEST (AHRSFactor, graphTest)
 
 TEST (AHRSFactor, PartialDerivativeExpmap)
 
 TEST (AHRSFactor, PartialDerivativeLogmap)
 
 TEST (AHRSFactor, predictTest)
 
 TEST (AHRSFactor, PreintegratedAhrsMeasurements)
 
 TEST (AHRSFactor, PreintegratedAhrsMeasurementsConstructor)
 

Variables

double gyroNoiseVar = 0.01
 
const Matrix3 kMeasuredOmegaCovariance = gyroNoiseVar * I_3x3
 

Detailed Description

Unit test for AHRSFactor.

Author
Krunal Chande
Luca Carlone
Frank Dellaert
Varun Agrawal

Definition in file testAHRSFactor.cpp.

Function Documentation

◆ kZeroOmegaCoriolis()

Vector3 kZeroOmegaCoriolis ( ,
,
 
)

◆ main()

int main ( )

Definition at line 482 of file testAHRSFactor.cpp.

◆ TEST() [1/12]

TEST ( AHRSFactor  ,
bodyPSensorWithBias   
)

Definition at line 410 of file testAHRSFactor.cpp.

◆ TEST() [2/12]

TEST ( AHRSFactor  ,
Error   
)

Definition at line 129 of file testAHRSFactor.cpp.

◆ TEST() [3/12]

TEST ( AHRSFactor  ,
ErrorWithBiases   
)

Definition at line 158 of file testAHRSFactor.cpp.

◆ TEST() [4/12]

TEST ( AHRSFactor  ,
ErrorWithBiasesAndSensorBodyDisplacement   
)

Definition at line 308 of file testAHRSFactor.cpp.

◆ TEST() [5/12]

TEST ( AHRSFactor  ,
FirstOrderPreIntegratedMeasurements   
)

< Current estimate of rotation rate bias

Definition at line 270 of file testAHRSFactor.cpp.

◆ TEST() [6/12]

TEST ( AHRSFactor  ,
fistOrderExponential   
)

Definition at line 238 of file testAHRSFactor.cpp.

◆ TEST() [7/12]

TEST ( AHRSFactor  ,
graphTest   
)

Definition at line 374 of file testAHRSFactor.cpp.

◆ TEST() [8/12]

TEST ( AHRSFactor  ,
PartialDerivativeExpmap   
)

Definition at line 187 of file testAHRSFactor.cpp.

◆ TEST() [9/12]

TEST ( AHRSFactor  ,
PartialDerivativeLogmap   
)

< Current estimate of rotation rate bias

Definition at line 213 of file testAHRSFactor.cpp.

◆ TEST() [10/12]

TEST ( AHRSFactor  ,
predictTest   
)

Definition at line 341 of file testAHRSFactor.cpp.

◆ TEST() [11/12]

< Current estimate of angular rate bias

Definition at line 71 of file testAHRSFactor.cpp.

◆ TEST() [12/12]

TEST ( AHRSFactor  ,
PreintegratedAhrsMeasurementsConstructor   
)

< Current estimate of angular rate bias

Definition at line 105 of file testAHRSFactor.cpp.

Variable Documentation

◆ gyroNoiseVar

double gyroNoiseVar = 0.01

Definition at line 50 of file testAHRSFactor.cpp.

◆ kMeasuredOmegaCovariance

const Matrix3 kMeasuredOmegaCovariance = gyroNoiseVar * I_3x3

Definition at line 51 of file testAHRSFactor.cpp.



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autogenerated on Sat Nov 16 2024 04:09:52