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"
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 |
Unit test for AHRSFactor.
Definition in file testAHRSFactor.cpp.
Vector3 kZeroOmegaCoriolis | ( | 0 | , |
0 | , | ||
0 | |||
) |
int main | ( | ) |
Definition at line 482 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
bodyPSensorWithBias | |||
) |
Definition at line 410 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
Error | |||
) |
Definition at line 129 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
ErrorWithBiases | |||
) |
Definition at line 158 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
ErrorWithBiasesAndSensorBodyDisplacement | |||
) |
Definition at line 308 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
FirstOrderPreIntegratedMeasurements | |||
) |
< Current estimate of rotation rate bias
Definition at line 270 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
fistOrderExponential | |||
) |
Definition at line 238 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
graphTest | |||
) |
Definition at line 374 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
PartialDerivativeExpmap | |||
) |
Definition at line 187 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
PartialDerivativeLogmap | |||
) |
< Current estimate of rotation rate bias
Definition at line 213 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
predictTest | |||
) |
Definition at line 341 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
PreintegratedAhrsMeasurements | |||
) |
< Current estimate of angular rate bias
Definition at line 71 of file testAHRSFactor.cpp.
TEST | ( | AHRSFactor | , |
PreintegratedAhrsMeasurementsConstructor | |||
) |
< Current estimate of angular rate bias
Definition at line 105 of file testAHRSFactor.cpp.
double gyroNoiseVar = 0.01 |
Definition at line 50 of file testAHRSFactor.cpp.
const Matrix3 kMeasuredOmegaCovariance = gyroNoiseVar * I_3x3 |
Definition at line 51 of file testAHRSFactor.cpp.