testGaussianISAM2.cpp File Reference

Unit tests for GaussianISAM2. More...

#include <gtsam/nonlinear/ISAM2.h>
#include <tests/smallExample.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianBayesTree.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/inference/Ordering.h>
#include <gtsam/base/debug.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/treeTraversal-inst.h>
#include <CppUnitLite/TestHarness.h>
#include <cassert>

Include dependency graph for testGaussianISAM2.cpp:

Go to the source code of this file.

Classes
struct	ConsistencyVisitor
class	FixActiveFactor

Functions
ISAM2	createSlamlikeISAM2 (Values *init_values=nullptr, NonlinearFactorGraph *full_graph=nullptr, const ISAM2Params &params=ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false, true, ISAM2Params::CHOLESKY, true, DefaultKeyFormatter, true), size_t maxPoses=10)
bool	isam_check (const NonlinearFactorGraph &fullgraph, const Values &fullinit, const ISAM2 &isam, Test &test, TestResult &result)
int	main ()
	TEST (ActiveFactorTesting, Issue1596)
	TEST (ISAM2, calculate_nnz)
	TEST (ISAM2, clone)
	TEST (ISAM2, constrained_ordering)
	TEST (ISAM2, marginalCovariance)
	TEST (ISAM2, marginalizationSize)
	TEST (ISAM2, marginalizeLeaves1)
	TEST (ISAM2, marginalizeLeaves2)
	TEST (ISAM2, marginalizeLeaves3)
	TEST (ISAM2, marginalizeLeaves4)
	TEST (ISAM2, marginalizeLeaves5)
	TEST (ISAM2, marginalizeLeaves6)
	TEST (ISAM2, MarginalizeRoot)
	TEST (ISAM2, removeFactors)
	TEST (ISAM2, removeVariables)
	TEST (ISAM2, simple)
	TEST (ISAM2, slamlike_solution_dogleg)
	TEST (ISAM2, slamlike_solution_dogleg_qr)
	TEST (ISAM2, slamlike_solution_gaussnewton)
	TEST (ISAM2, slamlike_solution_gaussnewton_qr)
	TEST (ISAM2, slamlike_solution_partial_relinearization_check)
	TEST (ISAM2, swapFactors)

Variables
SharedDiagonal	brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0, 0.1).finished())
static const SharedNoiseModel	model
SharedDiagonal	odoNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.1, 0.1, M_PI/100.0).finished())

Detailed Description

Unit tests for GaussianISAM2.

Author

Michael Kaess

Definition in file testGaussianISAM2.cpp.

Function Documentation

createSlamlikeISAM2()

ISAM2 createSlamlikeISAM2	(	Values *	init_values = nullptr,
		NonlinearFactorGraph *	full_graph = nullptr,
		const ISAM2Params &	params = ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0,                                            0, false, true,                                            ISAM2Params::CHOLESKY, true,                                            DefaultKeyFormatter, true),
		size_t	maxPoses = 10
	)

Definition at line 44 of file testGaussianISAM2.cpp.

isam_check()

bool isam_check	(	const NonlinearFactorGraph &	fullgraph,
		const Values &	fullinit,
		const ISAM2 &	isam,
		Test &	test,
		TestResult &	result
	)

Definition at line 223 of file testGaussianISAM2.cpp.

main()

int main

(

)

Definition at line 1049 of file testGaussianISAM2.cpp.

TEST() [1/22]

TEST	(	ActiveFactorTesting	,
		Issue1596
	)

Definition at line 1020 of file testGaussianISAM2.cpp.

TEST() [2/22]

TEST	(	ISAM2	,
		calculate_nnz
	)

Definition at line 989 of file testGaussianISAM2.cpp.

TEST() [3/22]

TEST	(	ISAM2	,
		clone
	)

Definition at line 346 of file testGaussianISAM2.cpp.

TEST() [4/22]

TEST	(	ISAM2	,
		constrained_ordering
	)

Definition at line 479 of file testGaussianISAM2.cpp.

TEST() [5/22]

TEST	(	ISAM2	,
		marginalCovariance
	)

Definition at line 977 of file testGaussianISAM2.cpp.

TEST() [6/22]

TEST	(	ISAM2	,
		marginalizationSize
	)

Definition at line 946 of file testGaussianISAM2.cpp.

TEST() [7/22]

TEST	(	ISAM2	,
		marginalizeLeaves1
	)

Definition at line 736 of file testGaussianISAM2.cpp.

TEST() [8/22]

TEST	(	ISAM2	,
		marginalizeLeaves2
	)

Definition at line 762 of file testGaussianISAM2.cpp.

TEST() [9/22]

TEST	(	ISAM2	,
		marginalizeLeaves3
	)

Definition at line 792 of file testGaussianISAM2.cpp.

TEST() [10/22]

TEST	(	ISAM2	,
		marginalizeLeaves4
	)

Definition at line 831 of file testGaussianISAM2.cpp.

TEST() [11/22]

TEST	(	ISAM2	,
		marginalizeLeaves5
	)

Definition at line 856 of file testGaussianISAM2.cpp.

TEST() [12/22]

TEST	(	ISAM2	,
		marginalizeLeaves6
	)

Definition at line 867 of file testGaussianISAM2.cpp.

TEST() [13/22]

TEST	(	ISAM2	,
		MarginalizeRoot
	)

Definition at line 916 of file testGaussianISAM2.cpp.

TEST() [14/22]

TEST	(	ISAM2	,
		removeFactors
	)

Definition at line 380 of file testGaussianISAM2.cpp.

TEST() [15/22]

TEST	(	ISAM2	,
		removeVariables
	)

Definition at line 403 of file testGaussianISAM2.cpp.

TEST() [16/22]

TEST	(	ISAM2	,
		simple
	)

Definition at line 284 of file testGaussianISAM2.cpp.

TEST() [17/22]

TEST	(	ISAM2	,
		slamlike_solution_dogleg
	)

Definition at line 310 of file testGaussianISAM2.cpp.

TEST() [18/22]

TEST	(	ISAM2	,
		slamlike_solution_dogleg_qr
	)

Definition at line 334 of file testGaussianISAM2.cpp.

TEST() [19/22]

TEST	(	ISAM2	,
		slamlike_solution_gaussnewton
	)

Definition at line 298 of file testGaussianISAM2.cpp.

TEST() [20/22]

TEST	(	ISAM2	,
		slamlike_solution_gaussnewton_qr
	)

Definition at line 322 of file testGaussianISAM2.cpp.

TEST() [21/22]

TEST	(	ISAM2	,
		slamlike_solution_partial_relinearization_check
	)

Definition at line 603 of file testGaussianISAM2.cpp.

TEST() [22/22]

TEST	(	ISAM2	,
		swapFactors
	)

Definition at line 426 of file testGaussianISAM2.cpp.

Variable Documentation

brNoise

SharedDiagonal brNoise = noiseModel::Diagonal::Sigmas((Vector(2) << M_PI/100.0, 0.1).finished())

Definition at line 42 of file testGaussianISAM2.cpp.

model

const SharedNoiseModel model

static

Definition at line 34 of file testGaussianISAM2.cpp.

odoNoise

SharedDiagonal odoNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.1, 0.1, M_PI/100.0).finished())

Definition at line 41 of file testGaussianISAM2.cpp.