Functions | Variables
testInertialNavFactor_GlobalVelocity.cpp File Reference

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>
Include dependency graph for testInertialNavFactor_GlobalVelocity.cpp:

Go to the source code of this file.

Functions

static const Vector3 ECEF_omega_earth (0.0, 0.0, 7.292115e-5)
 
int main ()
 
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)
 
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)
 
 TEST (InertialNavFactor_GlobalVelocity, Constructor)
 
 TEST (InertialNavFactor_GlobalVelocity, ConstructorWithTransform)
 
 TEST (InertialNavFactor_GlobalVelocity, Equals)
 
 TEST (InertialNavFactor_GlobalVelocity, EqualsWithTransform)
 
 TEST (InertialNavFactor_GlobalVelocity, ErrorPosVel)
 
 TEST (InertialNavFactor_GlobalVelocity, ErrorPosVelWithTransform)
 
 TEST (InertialNavFactor_GlobalVelocity, ErrorRot)
 
 TEST (InertialNavFactor_GlobalVelocity, ErrorRotPosVel)
 
 TEST (InertialNavFactor_GlobalVelocity, ErrorRotPosVelWithTransform)
 
 TEST (InertialNavFactor_GlobalVelocity, ErrorRotWithTransform)
 
 TEST (InertialNavFactor_GlobalVelocity, Jacobian)
 
 TEST (InertialNavFactor_GlobalVelocity, JacobianWithTransform)
 
 TEST (InertialNavFactor_GlobalVelocity, Predict)
 
 TEST (InertialNavFactor_GlobalVelocity, PredictWithTransform)
 
static const Vector3 world_g (0.0, 0.0, 9.81)
 
static const Vector3 world_rho (0.0, -1.5724e-05, 0.0)
 

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)
 

Detailed Description

Unit test for the InertialNavFactor_GlobalVelocity.

Author
Vadim Indelman, Stephen Williams

Definition in file testInertialNavFactor_GlobalVelocity.cpp.

Function Documentation

◆ ECEF_omega_earth()

static const Vector3 ECEF_omega_earth ( 0.  0,
0.  0,
7.292115e 5 
)
static

◆ main()

int main ( )

Definition at line 704 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ predictionErrorPose()

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.

◆ predictionErrorVel()

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() [1/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
Constructor   
)

Definition at line 54 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [2/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
ConstructorWithTransform   
)

Definition at line 371 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [3/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
Equals   
)

Definition at line 73 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [4/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
EqualsWithTransform   
)

Definition at line 393 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [5/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
ErrorPosVel   
)

Definition at line 129 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [6/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
ErrorPosVelWithTransform   
)

Definition at line 459 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [7/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
ErrorRot   
)

Definition at line 161 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [8/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
ErrorRotPosVel   
)

Definition at line 194 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [9/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
ErrorRotPosVelWithTransform   
)

Definition at line 538 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [10/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
ErrorRotWithTransform   
)

Definition at line 497 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [11/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
Jacobian   
)
  • VADIM - START ************************************************************************* *‍/* VADIM - END ************************************************************************* *‍/

Definition at line 262 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [12/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
JacobianWithTransform   
)

Definition at line 589 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [13/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
Predict   
)

Definition at line 96 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ TEST() [14/14]

TEST ( InertialNavFactor_GlobalVelocity  ,
PredictWithTransform   
)

Definition at line 420 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ world_g()

static const Vector3 world_g ( 0.  0,
0.  0,
9.  81 
)
static

◆ world_rho()

static const Vector3 world_rho ( 0.  0,
-1.5724e 05,
0.  0 
)
static

Variable Documentation

◆ world_omega_earth

const Vector3 world_omega_earth
static
Initial value:

Definition at line 38 of file testInertialNavFactor_GlobalVelocity.cpp.

◆ world_R_ECEF

Rot3 world_R_ECEF(0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471)
ECEF_omega_earth
static const Vector3 ECEF_omega_earth(0.0, 0.0, 7.292115e-5)
world_R_ECEF
Rot3 world_R_ECEF(0.31686, 0.51505, 0.79645, 0.85173, -0.52399, 0, 0.41733, 0.67835, -0.60471)
gtsam::Rot3::matrix
Matrix3 matrix() const
Definition: Rot3M.cpp:218


gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:43:25