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 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 43 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 222 of file testGaussianISAM2.cpp.

◆ main()

int main ( )

Definition at line 1048 of file testGaussianISAM2.cpp.

◆ TEST() [1/22]

TEST	(	ActiveFactorTesting	,
		Issue1596
	)

Definition at line 1019 of file testGaussianISAM2.cpp.

◆ TEST() [2/22]

TEST	(	ISAM2	,
		calculate_nnz
	)

Definition at line 988 of file testGaussianISAM2.cpp.

◆ TEST() [3/22]

TEST	(	ISAM2	,
		clone
	)

Definition at line 345 of file testGaussianISAM2.cpp.

◆ TEST() [4/22]

TEST	(	ISAM2	,
		constrained_ordering
	)

Definition at line 478 of file testGaussianISAM2.cpp.

◆ TEST() [5/22]

TEST	(	ISAM2	,
		marginalCovariance
	)

Definition at line 976 of file testGaussianISAM2.cpp.

◆ TEST() [6/22]

TEST	(	ISAM2	,
		marginalizationSize
	)

Definition at line 945 of file testGaussianISAM2.cpp.

◆ TEST() [7/22]

TEST	(	ISAM2	,
		marginalizeLeaves1
	)

Definition at line 735 of file testGaussianISAM2.cpp.

◆ TEST() [8/22]

TEST	(	ISAM2	,
		marginalizeLeaves2
	)

Definition at line 761 of file testGaussianISAM2.cpp.

◆ TEST() [9/22]

TEST	(	ISAM2	,
		marginalizeLeaves3
	)

Definition at line 791 of file testGaussianISAM2.cpp.

◆ TEST() [10/22]

TEST	(	ISAM2	,
		marginalizeLeaves4
	)

Definition at line 830 of file testGaussianISAM2.cpp.

◆ TEST() [11/22]

TEST	(	ISAM2	,
		marginalizeLeaves5
	)

Definition at line 855 of file testGaussianISAM2.cpp.

◆ TEST() [12/22]

TEST	(	ISAM2	,
		marginalizeLeaves6
	)

Definition at line 866 of file testGaussianISAM2.cpp.

◆ TEST() [13/22]

TEST	(	ISAM2	,
		MarginalizeRoot
	)

Definition at line 915 of file testGaussianISAM2.cpp.

◆ TEST() [14/22]

TEST	(	ISAM2	,
		removeFactors
	)

Definition at line 379 of file testGaussianISAM2.cpp.

◆ TEST() [15/22]

TEST	(	ISAM2	,
		removeVariables
	)

Definition at line 402 of file testGaussianISAM2.cpp.

◆ TEST() [16/22]

TEST	(	ISAM2	,
		simple
	)

Definition at line 283 of file testGaussianISAM2.cpp.

◆ TEST() [17/22]

TEST	(	ISAM2	,
		slamlike_solution_dogleg
	)

Definition at line 309 of file testGaussianISAM2.cpp.

◆ TEST() [18/22]

TEST	(	ISAM2	,
		slamlike_solution_dogleg_qr
	)

Definition at line 333 of file testGaussianISAM2.cpp.

◆ TEST() [19/22]

TEST	(	ISAM2	,
		slamlike_solution_gaussnewton
	)

Definition at line 297 of file testGaussianISAM2.cpp.

◆ TEST() [20/22]

TEST	(	ISAM2	,
		slamlike_solution_gaussnewton_qr
	)

Definition at line 321 of file testGaussianISAM2.cpp.

◆ TEST() [21/22]

TEST	(	ISAM2	,
		slamlike_solution_partial_relinearization_check
	)

Definition at line 602 of file testGaussianISAM2.cpp.

◆ TEST() [22/22]

TEST	(	ISAM2	,
		swapFactors
	)

Definition at line 425 of file testGaussianISAM2.cpp.

Variable Documentation

◆ brNoise

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

Definition at line 41 of file testGaussianISAM2.cpp.

◆ model

const SharedNoiseModel model

static

Definition at line 33 of file testGaussianISAM2.cpp.

◆ odoNoise

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

Definition at line 40 of file testGaussianISAM2.cpp.

Classes

Functions

Variables