testHybridNonlinearFactorGraph.cpp File Reference

Unit tests for HybridNonlinearFactorGraph. More...

#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/utilities.h>
#include <gtsam/discrete/DiscreteBayesNet.h>
#include <gtsam/discrete/DiscreteDistribution.h>
#include <gtsam/discrete/DiscreteFactorGraph.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/hybrid/HybridEliminationTree.h>
#include <gtsam/hybrid/HybridFactor.h>
#include <gtsam/hybrid/HybridNonlinearFactor.h>
#include <gtsam/hybrid/HybridNonlinearFactorGraph.h>
#include <gtsam/linear/GaussianBayesNet.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include "Switching.h"
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testHybridNonlinearFactorGraph.cpp:

Go to the source code of this file.

Namespaces
	test_motion
	test_relinearization

Functions
GaussianFactorGraph::shared_ptr	batchGFG (double between, Values linearizationPoint)
static HybridNonlinearFactorGraph	test_relinearization::CreateFactorGraph (const std::vector< double > &means, const std::vector< double > &sigmas, DiscreteKey &m1, double x0_measurement, double measurement_noise=1e-3)
	Create a Factor Graph by directly specifying all the factors instead of creating conditionals first. This way we can directly provide the likelihoods and then perform (re-)linearization. More...
gtsam::DiscreteKey	test_motion::m1 (M(1), 2)
int	main ()
	TEST (GaussianElimination, Eliminate_x0)
	TEST (HybridGaussianElimination, EliminateHybrid_2_Variable)
	TEST (HybridGaussianFactorGraph, Resize)
	TEST (HybridNonlinearFactorGraph, DefaultDecisionTree)
	TEST (HybridNonlinearFactorGraph, DifferentCovariances)
	Test components with differing covariances but the same means. The factor graph is -X1--X2 | M1. More...
	TEST (HybridNonlinearFactorGraph, DifferentMeans)
	Test components with differing means but the same covariances. The factor graph is -X1--X2 | M1. More...
	TEST (HybridNonlinearFactorGraph, EliminationTree)
	TEST (HybridNonlinearFactorGraph, Equals)
	TEST (HybridNonlinearFactorGraph, Error)
	TEST (HybridNonlinearFactorGraph, ErrorTree)
	TEST (HybridNonlinearFactorGraph, Full_Elimination)
	TEST (HybridNonlinearFactorGraph, GaussianFactorGraph)
	TEST (HybridNonlinearFactorGraph, Linearization)
	TEST (HybridNonlinearFactorGraph, Partial_Elimination)
	TEST (HybridNonlinearFactorGraph, PrintErrors)
	TEST (HybridNonlinearFactorGraph, Printing)
	TEST (HybridNonlinearFactorGraph, PushBack)
	TEST (HybridNonlinearFactorGraph, Relinearization)
	TEST (HybridNonlinearFactorGraph, Resize)
	TEST (HybridNonlinearFactorGraph, Switching)
	TEST (HybridsGaussianElimination, Eliminate_x1)

Variables
std::vector< NoiseModelFactor::shared_ptr >	test_motion::components
auto	test_motion::noise_model = noiseModel::Isotropic::Sigma(1, 1.0)

Detailed Description

Unit tests for HybridNonlinearFactorGraph.

Author

Varun Agrawal

Fan Jiang

Frank Dellaert

Date

December 2021

Definition in file testHybridNonlinearFactorGraph.cpp.

Function Documentation

batchGFG()

GaussianFactorGraph::shared_ptr batchGFG	(	double	between,
		Values	linearizationPoint
	)

Definition at line 333 of file testHybridNonlinearFactorGraph.cpp.

main()

int main

(

)

Definition at line 1119 of file testHybridNonlinearFactorGraph.cpp.

TEST() [1/21]

TEST	(	GaussianElimination	,
		Eliminate_x0
	)

Definition at line 286 of file testHybridNonlinearFactorGraph.cpp.

TEST() [2/21]

TEST	(	HybridGaussianElimination	,
		EliminateHybrid_2_Variable
	)

Definition at line 349 of file testHybridNonlinearFactorGraph.cpp.

TEST() [3/21]

TEST	(	HybridGaussianFactorGraph	,
		Resize
	)

Definition at line 129 of file testHybridNonlinearFactorGraph.cpp.

TEST() [4/21]

TEST	(	HybridNonlinearFactorGraph	,
		DefaultDecisionTree
	)

Definition at line 860 of file testHybridNonlinearFactorGraph.cpp.

TEST() [5/21]

TEST	(	HybridNonlinearFactorGraph	,
		DifferentCovariances
	)

Test components with differing covariances but the same means. The factor graph is -X1--X2 | M1.

Definition at line 1039 of file testHybridNonlinearFactorGraph.cpp.

TEST() [6/21]

TEST	(	HybridNonlinearFactorGraph	,
		DifferentMeans
	)

Test components with differing means but the same covariances. The factor graph is -X1--X2 | M1.

Definition at line 963 of file testHybridNonlinearFactorGraph.cpp.

TEST() [7/21]

TEST	(	HybridNonlinearFactorGraph	,
		EliminationTree
	)

Definition at line 271 of file testHybridNonlinearFactorGraph.cpp.

TEST() [8/21]

TEST	(	HybridNonlinearFactorGraph	,
		Equals
	)

Definition at line 75 of file testHybridNonlinearFactorGraph.cpp.

TEST() [9/21]

TEST	(	HybridNonlinearFactorGraph	,
		Error
	)

Definition at line 408 of file testHybridNonlinearFactorGraph.cpp.

TEST() [10/21]

TEST	(	HybridNonlinearFactorGraph	,
		ErrorTree
	)

Definition at line 216 of file testHybridNonlinearFactorGraph.cpp.

TEST() [11/21]

TEST	(	HybridNonlinearFactorGraph	,
		Full_Elimination
	)

Definition at line 463 of file testHybridNonlinearFactorGraph.cpp.

TEST() [12/21]

TEST	(	HybridNonlinearFactorGraph	,
		GaussianFactorGraph
	)

Definition at line 52 of file testHybridNonlinearFactorGraph.cpp.

TEST() [13/21]

TEST	(	HybridNonlinearFactorGraph	,
		Linearization
	)

Definition at line 258 of file testHybridNonlinearFactorGraph.cpp.

TEST() [14/21]

TEST	(	HybridNonlinearFactorGraph	,
		Partial_Elimination
	)

Definition at line 380 of file testHybridNonlinearFactorGraph.cpp.

TEST() [15/21]

TEST	(	HybridNonlinearFactorGraph	,
		PrintErrors
	)

Definition at line 439 of file testHybridNonlinearFactorGraph.cpp.

TEST() [16/21]

TEST	(	HybridNonlinearFactorGraph	,
		Printing
	)

Definition at line 524 of file testHybridNonlinearFactorGraph.cpp.

TEST() [17/21]

TEST	(	HybridNonlinearFactorGraph	,
		PushBack
	)

Definition at line 158 of file testHybridNonlinearFactorGraph.cpp.

TEST() [18/21]

TEST	(	HybridNonlinearFactorGraph	,
		Relinearization
	)

Definition at line 1071 of file testHybridNonlinearFactorGraph.cpp.

TEST() [19/21]

TEST	(	HybridNonlinearFactorGraph	,
		Resize
	)

Definition at line 99 of file testHybridNonlinearFactorGraph.cpp.

TEST() [20/21]

TEST	(	HybridNonlinearFactorGraph	,
		Switching
	)

Definition at line 248 of file testHybridNonlinearFactorGraph.cpp.

TEST() [21/21]

TEST	(	HybridsGaussianElimination	,
		Eliminate_x1
	)

Definition at line 311 of file testHybridNonlinearFactorGraph.cpp.