Unit test for the InertialNavFactor_GlobalVelocity. More...
#include <iostream>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/navigation/ImuBias.h>
#include <gtsam_unstable/slam/InertialNavFactor_GlobalVelocity.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/inference/Key.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/TestableAssertions.h>
Go to the source code of this file.
Variables | |
static const Vector3 | world_omega_earth |
Rot3 | world_R_ECEF (0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471) |
Unit test for the InertialNavFactor_GlobalVelocity.
Definition in file testInertialNavFactor_GlobalVelocity.cpp.
int main | ( | ) |
Definition at line 704 of file testInertialNavFactor_GlobalVelocity.cpp.
Pose3 predictionErrorPose | ( | const Pose3 & | p1, |
const Vector3 & | v1, | ||
const imuBias::ConstantBias & | b1, | ||
const Pose3 & | p2, | ||
const Vector3 & | v2, | ||
const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > & | factor | ||
) |
Definition at line 42 of file testInertialNavFactor_GlobalVelocity.cpp.
Vector predictionErrorVel | ( | const Pose3 & | p1, |
const Vector3 & | v1, | ||
const imuBias::ConstantBias & | b1, | ||
const Pose3 & | p2, | ||
const Vector3 & | v2, | ||
const InertialNavFactor_GlobalVelocity< Pose3, Vector3, imuBias::ConstantBias > & | factor | ||
) |
Definition at line 48 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
Constructor | |||
) |
Definition at line 54 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
ConstructorWithTransform | |||
) |
Definition at line 371 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
Equals | |||
) |
Definition at line 73 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
EqualsWithTransform | |||
) |
Definition at line 393 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
ErrorPosVel | |||
) |
Definition at line 129 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
ErrorPosVelWithTransform | |||
) |
Definition at line 459 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
ErrorRot | |||
) |
Definition at line 161 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
ErrorRotPosVel | |||
) |
Definition at line 194 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
ErrorRotPosVelWithTransform | |||
) |
Definition at line 538 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
ErrorRotWithTransform | |||
) |
Definition at line 497 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
Jacobian | |||
) |
Definition at line 262 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
JacobianWithTransform | |||
) |
Definition at line 589 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
Predict | |||
) |
Definition at line 96 of file testInertialNavFactor_GlobalVelocity.cpp.
TEST | ( | InertialNavFactor_GlobalVelocity | , |
PredictWithTransform | |||
) |
Definition at line 420 of file testInertialNavFactor_GlobalVelocity.cpp.
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static |
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static |
Definition at line 38 of file testInertialNavFactor_GlobalVelocity.cpp.
Rot3 world_R_ECEF(0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471) |