Unit tests for Pose2 class. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/lieProxies.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Rot2.h>
#include <optional>
#include <cmath>
#include <iostream>
#include "testPoseAdjointMap.h"

Include dependency graph for testPose2.cpp:

Go to the source code of this file.

Namespaces
	align_3

	screwPose2

Functions
Point2	align_3::b1 (0, 0)

Point2	align_3::b2 (10, 0)

Point2	align_3::b3 (10, 10)

Point2	screwPose2::expectedT (-0.0446635, 0.29552)

int	main ()

Point2	align_3::t (10, 10)

	TEST (Pose2, Adjoint_full)

	TEST (Pose2, Adjoint_hat)

	TEST (Pose2, align_1)

	TEST (Pose2, align_2)

	TEST (Pose2, align_3)

	TEST (Pose2, align_4)

	TEST (Pose2, bearing)

	TEST (Pose2, bearing_pose)

	TEST (Pose2, between)

	TEST (Pose2, between2)

	TEST (Pose2, between3)

	TEST (Pose2, ChartDerivatives)

	TEST (Pose2, compose_a)

	TEST (Pose2, compose_b)

	TEST (Pose2, compose_c)

	TEST (Pose2, compose_matrix)

	TEST (Pose2, Concept)

	TEST (Pose2, constructors)

	TEST (Pose2, expmap)

	TEST (Pose2, expmap0a)

	TEST (Pose2, expmap0b)

	TEST (Pose2, expmap0c)

	TEST (Pose2, expmap0d)

	TEST (Pose2, expmap2)

	TEST (Pose2, expmap3)

	TEST (Pose2, expmap_c)

	TEST (Pose2, expmap_c_full)

	TEST (Pose2, ExpmapDerivative1)

	TEST (Pose2, ExpmapDerivative2)

	TEST (Pose2, Invariants)

	TEST (Pose2, inverse)

	TEST (Pose2, LieGroupDerivatives)

	TEST (Pose2, logmap)

	TEST (Pose2, logmap_full)

	TEST (Pose2, LogmapDerivative1)

	TEST (Pose2, LogmapDerivative2)

	TEST (Pose2, manifold)

	TEST (Pose2, matrix)

	TEST (Pose2, Print)

	TEST (Pose2, range)

	TEST (Pose2, range_pose)

	TEST (Pose2, retract)

	TEST (Pose2, rotation)

	TEST (Pose2, round_trip)

	TEST (Pose2, TransformCovariance3)

	TEST (Pose2, transformFrom)

	TEST (Pose2, transformTo)

	TEST (Pose2, translation)

static Point2	transformFrom_ (const Pose2 &pose, const Point2 &point)

static Point2	transformTo_ (const Pose2 &pose, const Point2 &point)

Variables
Point2	align_3::a1 = expected.transformFrom(b1)

Point2	align_3::a2 = expected.transformFrom(b2)

Point2	align_3::a3 = expected.transformFrom(b3)

Pose2	screwPose2::expected (expectedR, expectedT)

Pose2	align_3::expected (Rot2::fromAngle(2 *M_PI/3), t)

Rot2	screwPose2::expectedR = Rot2::fromAngle(w)

double	screwPose2::w =0.3

Vector	screwPose2::xi = (Vector(3) << 0.0, w, w).finished()

Detailed Description

Unit tests for Pose2 class.

Definition in file testPose2.cpp.

Function Documentation

◆ main()

int main ( )

Definition at line 942 of file testPose2.cpp.

◆ TEST() [1/48]

TEST	(	Pose2	,
		Adjoint_full
	)

Definition at line 176 of file testPose2.cpp.

◆ TEST() [2/48]

TEST	(	Pose2	,
		Adjoint_hat
	)

Definition at line 190 of file testPose2.cpp.

◆ TEST() [3/48]

TEST	(	Pose2	,
		align_1
	)

Definition at line 744 of file testPose2.cpp.

◆ TEST() [4/48]

TEST	(	Pose2	,
		align_2
	)

Definition at line 752 of file testPose2.cpp.

◆ TEST() [5/48]

TEST	(	Pose2	,
		align_3
	)

Definition at line 774 of file testPose2.cpp.

◆ TEST() [6/48]

TEST	(	Pose2	,
		align_4
	)

Definition at line 802 of file testPose2.cpp.

◆ TEST() [7/48]

TEST	(	Pose2	,
		bearing
	)

Definition at line 595 of file testPose2.cpp.

◆ TEST() [8/48]

TEST	(	Pose2	,
		bearing_pose
	)

Definition at line 633 of file testPose2.cpp.

◆ TEST() [9/48]

TEST	(	Pose2	,
		between
	)

Definition at line 505 of file testPose2.cpp.

◆ TEST() [10/48]

TEST	(	Pose2	,
		between2
	)

Definition at line 546 of file testPose2.cpp.

◆ TEST() [11/48]

TEST	(	Pose2	,
		between3
	)

Definition at line 561 of file testPose2.cpp.

◆ TEST() [12/48]

TEST	(	Pose2	,
		ChartDerivatives
	)

Definition at line 843 of file testPose2.cpp.

◆ TEST() [13/48]

TEST	(	Pose2	,
		compose_a
	)

Definition at line 323 of file testPose2.cpp.

◆ TEST() [14/48]

TEST	(	Pose2	,
		compose_b
	)

Definition at line 357 of file testPose2.cpp.

◆ TEST() [15/48]

TEST	(	Pose2	,
		compose_c
	)

Definition at line 378 of file testPose2.cpp.

◆ TEST() [16/48]

TEST	(	Pose2	,
		compose_matrix
	)

Definition at line 469 of file testPose2.cpp.

◆ TEST() [17/48]

TEST	(	Pose2	,
		Concept
	)

Definition at line 37 of file testPose2.cpp.

◆ TEST() [18/48]

TEST	(	Pose2	,
		constructors
	)

Definition at line 44 of file testPose2.cpp.

◆ TEST() [19/48]

TEST	(	Pose2	,
		expmap
	)

Definition at line 79 of file testPose2.cpp.

◆ TEST() [20/48]

TEST	(	Pose2	,
		expmap0a
	)

Definition at line 114 of file testPose2.cpp.

◆ TEST() [21/48]

TEST	(	Pose2	,
		expmap0b
	)

Definition at line 121 of file testPose2.cpp.

◆ TEST() [22/48]

TEST	(	Pose2	,
		expmap0c
	)

Definition at line 129 of file testPose2.cpp.

◆ TEST() [23/48]

TEST	(	Pose2	,
		expmap0d
	)

Definition at line 137 of file testPose2.cpp.

◆ TEST() [24/48]

TEST	(	Pose2	,
		expmap2
	)

Definition at line 87 of file testPose2.cpp.

◆ TEST() [25/48]

TEST	(	Pose2	,
		expmap3
	)

Definition at line 95 of file testPose2.cpp.

◆ TEST() [26/48]

TEST	(	Pose2	,
		expmap_c
	)

Definition at line 154 of file testPose2.cpp.

◆ TEST() [27/48]

TEST	(	Pose2	,
		expmap_c_full
	)

Definition at line 162 of file testPose2.cpp.

◆ TEST() [28/48]

TEST	(	Pose2	,
		ExpmapDerivative1
	)

Definition at line 226 of file testPose2.cpp.

◆ TEST() [29/48]

TEST	(	Pose2	,
		ExpmapDerivative2
	)

Definition at line 236 of file testPose2.cpp.

◆ TEST() [30/48]

TEST	(	Pose2	,
		Invariants
	)

Definition at line 822 of file testPose2.cpp.

◆ TEST() [31/48]

TEST	(	Pose2	,
		inverse
	)

Definition at line 399 of file testPose2.cpp.

◆ TEST() [32/48]

TEST	(	Pose2	,
		LieGroupDerivatives
	)

Definition at line 835 of file testPose2.cpp.

◆ TEST() [33/48]

TEST	(	Pose2	,
		logmap
	)

Definition at line 204 of file testPose2.cpp.

◆ TEST() [34/48]

TEST	(	Pose2	,
		logmap_full
	)

Definition at line 217 of file testPose2.cpp.

◆ TEST() [35/48]

TEST	(	Pose2	,
		LogmapDerivative1
	)

Definition at line 246 of file testPose2.cpp.

◆ TEST() [36/48]

TEST	(	Pose2	,
		LogmapDerivative2
	)

Definition at line 257 of file testPose2.cpp.

◆ TEST() [37/48]

TEST	(	Pose2	,
		manifold
	)

Definition at line 54 of file testPose2.cpp.

◆ TEST() [38/48]

TEST	(	Pose2	,
		matrix
	)

Definition at line 437 of file testPose2.cpp.

◆ TEST() [39/48]

TEST	(	Pose2	,
		Print
	)

Definition at line 926 of file testPose2.cpp.

◆ TEST() [40/48]

TEST	(	Pose2	,
		range
	)

Definition at line 672 of file testPose2.cpp.

◆ TEST() [41/48]

TEST	(	Pose2	,
		range_pose
	)

Definition at line 709 of file testPose2.cpp.

◆ TEST() [42/48]

TEST	(	Pose2	,
		retract
	)

Definition at line 67 of file testPose2.cpp.

◆ TEST() [43/48]

TEST	(	Pose2	,
		rotation
	)

Definition at line 492 of file testPose2.cpp.

◆ TEST() [44/48]

TEST	(	Pose2	,
		round_trip
	)

Definition at line 575 of file testPose2.cpp.

◆ TEST() [45/48]

TEST	(	Pose2	,
		TransformCovariance3
	)

Definition at line 853 of file testPose2.cpp.

◆ TEST() [46/48]

TEST	(	Pose2	,
		transformFrom
	)

Definition at line 301 of file testPose2.cpp.

◆ TEST() [47/48]

TEST	(	Pose2	,
		transformTo
	)

Definition at line 272 of file testPose2.cpp.

◆ TEST() [48/48]

TEST	(	Pose2	,
		translation
	)

Definition at line 480 of file testPose2.cpp.

◆ transformFrom_()

static Point2 transformFrom_	(	const Pose2 &	pose,
		const Point2 &	point
	)

static

Definition at line 297 of file testPose2.cpp.

◆ transformTo_()

static Point2 transformTo_	(	const Pose2 &	pose,
		const Point2 &	point
	)