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26 using namespace std::placeholders;
28 using namespace gtsam;
31 static const double ms = 1
e-3;
32 static const double cm = 1
e-2;
46 Event actual(
t, 201.5 *
cm, 201.5 *
cm, (212 - 45) *
cm);
51 Event event(0, 1, 0, 0);
67 Matrix expectedH1 = numericalDerivative11<double, Event>(
71 Matrix expectedH2 = numericalDerivative11<double, Point3>(
static int runAllTests(TestResult &result)
static SharedNoiseModel model(noiseModel::Isotropic::Sigma(1, 0.5 *ms))
T value(const Values &values, std::vector< Matrix > *H=nullptr) const
Return value and optional derivatives, reverse AD version Notes: this is not terribly efficient,...
Array< double, 1, 3 > e(1./3., 0.5, 2.)
#define EXPECT(condition)
static const double kSpeedOfSound
Time of arrival to given sensor.
static const double timeOfEvent
Eigen::Matrix< double, 1, 1 > Vector1
Some functions to compute numerical derivatives.
Event retract(const Vector4 &v) const
Updates a with tangent space delta.
static const Point3 microphoneAt0(0, 0, 0)
void insert(Key j, const Vector &value)
noiseModel::Base::shared_ptr SharedNoiseModel
#define EXPECT_DOUBLES_EQUAL(expected, actual, threshold)
const gtsam::Symbol key('X', 0)
static const TimeOfArrival kToa(kSpeedOfSound)
Array< int, Dynamic, 1 > v
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
The matrix class, also used for vectors and row-vectors.
std::uint64_t Key
Integer nonlinear key type.
Expressions for Block Automatic Differentiation.
static const Event exampleEvent(timeOfEvent, 1, 0, 0)
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:39:55