testNoiseModel.cpp File Reference

#include <gtsam/linear/NoiseModel.h>
#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>
#include <limits>

Include dependency graph for testNoiseModel.cpp:

Go to the source code of this file.

Namespaces
	exampleQR

Macros
#define	TEST_GAUSSIAN(gaussian)

Functions
static const Vector3	kSigmas (kSigma, kSigma, kSigma)
int	main ()
	TEST (NoiseModel, ConstrainedAll)
	TEST (NoiseModel, ConstrainedConstructors)
	TEST (NoiseModel, ConstrainedMixed)
	TEST (NoiseModel, constructors)
	TEST (NoiseModel, equals)
	TEST (NoiseModel, FullyConstrained)
	TEST (NoiseModel, lossFunctionAtZero)
	TEST (NoiseModel, MixedQR)
	TEST (NoiseModel, MixedQR2)
	TEST (NoiseModel, NegLogNormalizationConstant1D)
	TEST (NoiseModel, NegLogNormalizationConstant3D)
	TEST (NoiseModel, NonDiagonalGaussian)
	TEST (NoiseModel, OverdeterminedQR)
	TEST (NoiseModel, QR)
	TEST (NoiseModel, QRNan)
	TEST (NoiseModel, robustFunctionAsymmetricCauchy)
	TEST (NoiseModel, robustFunctionAsymmetricTukey)
	TEST (NoiseModel, robustFunctionCauchy)
	TEST (NoiseModel, robustFunctionDCS)
	TEST (NoiseModel, robustFunctionFair)
	TEST (NoiseModel, robustFunctionGemanMcClure)
	TEST (NoiseModel, robustFunctionHuber)
	TEST (NoiseModel, robustFunctionL2WithDeadZone)
	TEST (NoiseModel, robustFunctionTukey)
	TEST (NoiseModel, robustFunctionWelsch)
	TEST (NoiseModel, robustNoiseCustomHuber)
	TEST (NoiseModel, robustNoiseDCS)
	TEST (NoiseModel, robustNoiseGemanMcClure)
	TEST (NoiseModel, robustNoiseHuber)
	TEST (NoiseModel, robustNoiseL2WithDeadZone)
	TEST (NoiseModel, ScalarOrVector)
	TEST (NoiseModel, SmartCovariance)
	TEST (NoiseModel, SmartInformation)
	TEST (NoiseModel, SmartSqrtInformation)
	TEST (NoiseModel, SmartSqrtInformation2)
	TEST (NoiseModel, Unit)
	TEST (NoiseModel, WhitenInPlace)

Variables
Matrix	exampleQR::Ab
SharedDiagonal	exampleQR::diagonal = noiseModel::Diagonal::Sigmas(sigmas)
static const Matrix	kCovariance = I_3x3 * kVariance
static const double	kInverseSigma = 1.0 / kSigma
static const double	kSigma = 2
static const double	kVariance = kSigma * kSigma
static const double	prc = 1.0 / kVariance
static const Matrix	R = I_3x3 * kInverseSigma
Matrix	exampleQR::Rd
Vector	exampleQR::sigmas = (Vector(4) << 0.2, 0.2, 0.1, 0.1).finished()

Detailed Description

Date

Jan 13, 2010

Author

Richard Roberts

Frank Dellaert

Fan Jiang

Definition in file testNoiseModel.cpp.

Macro Definition Documentation

TEST_GAUSSIAN

#define TEST_GAUSSIAN

(

gaussian

)

Value:

  EQUALITY(info, gaussian->information());\
  EQUALITY(cov, gaussian->covariance());\
  EXPECT(assert_equal(white, gaussian->whiten(e)));\
  EXPECT(assert_equal(e, gaussian->unwhiten(white)));\
  EXPECT_DOUBLES_EQUAL(251.0, gaussian->squaredMahalanobisDistance(e), 1e-9);\
  EXPECT_DOUBLES_EQUAL(0.5 * 251.0, gaussian->loss(251.0), 1e-9);\
  Matrix A = R.inverse(); Vector b = e;\
  gaussian->WhitenSystem(A, b);\
  EXPECT(assert_equal(I, A));\
  EXPECT(assert_equal(white, b));

Definition at line 772 of file testNoiseModel.cpp.

Function Documentation

kSigmas()

static const Vector3 kSigmas ( kSigma  , kSigma  , kSigma    )

static

main()

int main

(

)

Definition at line 888 of file testNoiseModel.cpp.

TEST() [1/37]

TEST	(	NoiseModel	,
		ConstrainedAll
	)

Definition at line 189 of file testNoiseModel.cpp.

TEST() [2/37]

TEST	(	NoiseModel	,
		ConstrainedConstructors
	)

• ************************************************************************* *‍/

Definition at line 146 of file testNoiseModel.cpp.

TEST() [3/37]

TEST	(	NoiseModel	,
		ConstrainedMixed
	)

Definition at line 174 of file testNoiseModel.cpp.

TEST() [4/37]

TEST	(	NoiseModel	,
		constructors
	)

Definition at line 40 of file testNoiseModel.cpp.

TEST() [5/37]

TEST	(	NoiseModel	,
		equals
	)

Definition at line 109 of file testNoiseModel.cpp.

TEST() [6/37]

TEST	(	NoiseModel	,
		FullyConstrained
	)

Definition at line 356 of file testNoiseModel.cpp.

TEST() [7/37]

TEST	(	NoiseModel	,
		lossFunctionAtZero
	)

Definition at line 735 of file testNoiseModel.cpp.

TEST() [8/37]

TEST	(	NoiseModel	,
		MixedQR
	)

Definition at line 284 of file testNoiseModel.cpp.

TEST() [9/37]

TEST	(	NoiseModel	,
		MixedQR2
	)

Definition at line 317 of file testNoiseModel.cpp.

TEST() [10/37]

TEST	(	NoiseModel	,
		NegLogNormalizationConstant1D
	)

Definition at line 810 of file testNoiseModel.cpp.

TEST() [11/37]

TEST	(	NoiseModel	,
		NegLogNormalizationConstant3D
	)

Definition at line 847 of file testNoiseModel.cpp.

TEST() [12/37]

TEST	(	NoiseModel	,
		NonDiagonalGaussian
	)

Definition at line 784 of file testNoiseModel.cpp.

TEST() [13/37]

TEST	(	NoiseModel	,
		OverdeterminedQR
	)

Definition at line 252 of file testNoiseModel.cpp.

TEST() [14/37]

TEST	(	NoiseModel	,
		QR
	)

Definition at line 225 of file testNoiseModel.cpp.

TEST() [15/37]

TEST	(	NoiseModel	,
		QRNan
	)

Definition at line 379 of file testNoiseModel.cpp.

TEST() [16/37]

TEST	(	NoiseModel	,
		robustFunctionAsymmetricCauchy
	)

Definition at line 508 of file testNoiseModel.cpp.

TEST() [17/37]

TEST	(	NoiseModel	,
		robustFunctionAsymmetricTukey
	)

Definition at line 571 of file testNoiseModel.cpp.

TEST() [18/37]

TEST	(	NoiseModel	,
		robustFunctionCauchy
	)

Definition at line 492 of file testNoiseModel.cpp.

TEST() [19/37]

TEST	(	NoiseModel	,
		robustFunctionDCS
	)

Definition at line 587 of file testNoiseModel.cpp.

TEST() [20/37]

TEST	(	NoiseModel	,
		robustFunctionFair
	)

Definition at line 460 of file testNoiseModel.cpp.

TEST() [21/37]

TEST	(	NoiseModel	,
		robustFunctionGemanMcClure
	)

Definition at line 524 of file testNoiseModel.cpp.

TEST() [22/37]

TEST	(	NoiseModel	,
		robustFunctionHuber
	)

Definition at line 476 of file testNoiseModel.cpp.

TEST() [23/37]

TEST	(	NoiseModel	,
		robustFunctionL2WithDeadZone
	)

Definition at line 599 of file testNoiseModel.cpp.

TEST() [24/37]

TEST	(	NoiseModel	,
		robustFunctionTukey
	)

Definition at line 555 of file testNoiseModel.cpp.

TEST() [25/37]

TEST	(	NoiseModel	,
		robustFunctionWelsch
	)

Definition at line 539 of file testNoiseModel.cpp.

TEST() [26/37]

TEST	(	NoiseModel	,
		robustNoiseCustomHuber
	)

Definition at line 707 of file testNoiseModel.cpp.

TEST() [27/37]

TEST	(	NoiseModel	,
		robustNoiseDCS
	)

Definition at line 668 of file testNoiseModel.cpp.

TEST() [28/37]

TEST	(	NoiseModel	,
		robustNoiseGemanMcClure
	)

Definition at line 640 of file testNoiseModel.cpp.

TEST() [29/37]

TEST	(	NoiseModel	,
		robustNoiseHuber
	)

Definition at line 620 of file testNoiseModel.cpp.

TEST() [30/37]

TEST	(	NoiseModel	,
		robustNoiseL2WithDeadZone
	)

Definition at line 691 of file testNoiseModel.cpp.

TEST() [31/37]

TEST	(	NoiseModel	,
		ScalarOrVector
	)

Definition at line 431 of file testNoiseModel.cpp.

TEST() [32/37]

TEST	(	NoiseModel	,
		SmartCovariance
	)

Definition at line 422 of file testNoiseModel.cpp.

TEST() [33/37]

TEST	(	NoiseModel	,
		SmartInformation
	)

Definition at line 411 of file testNoiseModel.cpp.

TEST() [34/37]

TEST	(	NoiseModel	,
		SmartSqrtInformation
	)

Definition at line 393 of file testNoiseModel.cpp.

TEST() [35/37]

TEST	(	NoiseModel	,
		SmartSqrtInformation2
	)

Definition at line 402 of file testNoiseModel.cpp.

TEST() [36/37]

TEST	(	NoiseModel	,
		Unit
	)

Definition at line 101 of file testNoiseModel.cpp.

TEST() [37/37]

TEST	(	NoiseModel	,
		WhitenInPlace
	)

Definition at line 440 of file testNoiseModel.cpp.

Variable Documentation

kCovariance

const Matrix kCovariance = I_3x3 * kVariance

static

Definition at line 36 of file testNoiseModel.cpp.

kInverseSigma

const double kInverseSigma = 1.0 / kSigma

static

Definition at line 33 of file testNoiseModel.cpp.

kSigma

const double kSigma = 2

static

Definition at line 33 of file testNoiseModel.cpp.

kVariance

const double kVariance = kSigma * kSigma

static

Definition at line 34 of file testNoiseModel.cpp.

prc

const double prc = 1.0 / kVariance

static

Definition at line 34 of file testNoiseModel.cpp.

R

const Matrix R = I_3x3 * kInverseSigma

static

Definition at line 35 of file testNoiseModel.cpp.