Unit tests for DoglegOptimizer. More...

#include <CppUnitLite/TestHarness.h>
#include <tests/smallExample.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/DoglegOptimizer.h>
#include <gtsam/nonlinear/DoglegOptimizerImpl.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/slam/SmartProjectionPoseFactor.h>
#include "examples/SFMdata.h"
#include <functional>

Include dependency graph for testDoglegOptimizer.cpp:

Go to the source code of this file.

Functions
int	main ()

	TEST (DoglegOptimizer, ComputeBlend)

	TEST (DoglegOptimizer, ComputeBlendEdgeCases)

	TEST (DoglegOptimizer, ComputeDoglegPoint)

	TEST (DoglegOptimizer, Constraint)

	TEST (DoglegOptimizer, Iterate)

	TEST (DogLegOptimizer, VariableUpdate)

Detailed Description

Unit tests for DoglegOptimizer.

Author: Richard Roberts; Frank dellaert

Definition in file testDoglegOptimizer.cpp.

Function Documentation

◆ main()

int main ( )

Definition at line 327 of file testDoglegOptimizer.cpp.

◆ TEST() [1/6]

TEST	(	DoglegOptimizer	,
		ComputeBlend
	)

Definition at line 40 of file testDoglegOptimizer.cpp.

◆ TEST() [2/6]

TEST	(	DoglegOptimizer	,
		ComputeBlendEdgeCases
	)

Definition at line 76 of file testDoglegOptimizer.cpp.

◆ TEST() [3/6]

TEST	(	DoglegOptimizer	,
		ComputeDoglegPoint
	)

Definition at line 94 of file testDoglegOptimizer.cpp.

◆ TEST() [4/6]

TEST	(	DoglegOptimizer	,
		Constraint
	)

Definition at line 167 of file testDoglegOptimizer.cpp.

◆ TEST() [5/6]

TEST	(	DoglegOptimizer	,
		Iterate
	)

Definition at line 133 of file testDoglegOptimizer.cpp.

◆ TEST() [6/6]

TEST	(	DogLegOptimizer	,
		VariableUpdate
	)

Test created to fix issue in ISAM2 when using the DogLegOptimizer. Originally reported by kvmanohar22 in issue #301 https://github.com/borglab/gtsam/issues/301

This test is based on a script provided by kvmanohar22 to help reproduce the issue.

Definition at line 213 of file testDoglegOptimizer.cpp.

Functions