#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/navigation/LieGroupEKF.h>
#include <gtsam/navigation/NavState.h>

Include dependency graph for testLieGroupEKF.cpp:

Namespaces
	exampleLieGroupDynamicMatrix

	exampleSO3

Functions
Vector3	exampleSO3::dynamics (const Rot3 &X, OptionalJacobian< 3, 3 > H={})

Vector	exampleLieGroupDynamicMatrix::f (const Matrix &X, OptionalJacobian< Eigen::Dynamic, Eigen::Dynamic > H_X={})

double	exampleLieGroupDynamicMatrix::h (const Matrix &p, OptionalJacobian<-1, -1 > H={})

int	main ()

	TEST (GroupeEKF, DynamicsJacobian)

	TEST (GroupeEKF, PredictNumericState)

	TEST (GroupeEKF, StateAndControl)

	TEST (LieGroupEKF_DynamicMatrix, PredictAndUpdate)

Variables
static constexpr double	exampleSO3::k = 0.5

const Vector	exampleLieGroupDynamicMatrix::kFixedVelocityTangent = (Vector(4) << 0.5, 0.1, -0.1, -0.5).finished()

Function Documentation

◆ main()

int main ( )

Definition at line 197 of file testLieGroupEKF.cpp.

◆ TEST() [1/4]

TEST	(	GroupeEKF	,
		DynamicsJacobian
	)

Definition at line 42 of file testLieGroupEKF.cpp.

◆ TEST() [2/4]

TEST	(	GroupeEKF	,
		PredictNumericState
	)

Definition at line 58 of file testLieGroupEKF.cpp.

◆ TEST() [3/4]

TEST	(	GroupeEKF	,
		StateAndControl
	)

Definition at line 81 of file testLieGroupEKF.cpp.

◆ TEST() [4/4]

TEST	(	LieGroupEKF_DynamicMatrix	,
		PredictAndUpdate
	)

Definition at line 143 of file testLieGroupEKF.cpp.

Namespaces