#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/slam/PoseTranslationPrior.h>
Go to the source code of this file.
Typedefs | |
typedef PoseTranslationPrior< Pose2 > | Pose2TranslationPrior |
typedef PoseTranslationPrior< Pose3 > | Pose3TranslationPrior |
Functions | |
Vector | evalFactorError2 (const Pose2TranslationPrior &factor, const Pose2 &x) |
Vector | evalFactorError3 (const Pose3TranslationPrior &factor, const Pose3 &x) |
int | main () |
const Point2 | point2A (1.0, 2.0) |
const Point2 | point2B (4.0, 6.0) |
const Point3 | point3A (1.0, 2.0, 3.0) |
const Point3 | point3B (4.0, 6.0, 8.0) |
TEST (testPoseTranslationFactor, level2_error) | |
TEST (testPoseTranslationFactor, level2_zero_error) | |
TEST (testPoseTranslationFactor, level3_error) | |
TEST (testPoseTranslationFactor, level3_zero_error) | |
TEST (testPoseTranslationFactor, pitched3_error) | |
TEST (testPoseTranslationFactor, pitched3_zero_error) | |
TEST (testPoseTranslationFactor, smallrot3_error) | |
TEST (testPoseTranslationFactor, smallrot3_zero_error) | |
Variables | |
const SharedNoiseModel | model2 = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.2)) |
const SharedNoiseModel | model3 = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.2, 0.3)) |
const gtsam::Key | poseKey = 1 |
const Rot2 | rot2A |
const Rot2 | rot2B = Rot2::fromAngle(M_PI_2) |
const Rot3 | rot3A |
const Rot3 | rot3B = Rot3::Pitch(-M_PI_2) |
const Rot3 | rot3C = Rot3::RzRyRx(0.1, 0.2, 0.3) |
const double | tol = 1e-5 |
Definition in file testPoseTranslationPrior.cpp.
Definition at line 21 of file testPoseTranslationPrior.cpp.
Definition at line 22 of file testPoseTranslationPrior.cpp.
Vector evalFactorError2 | ( | const Pose2TranslationPrior & | factor, |
const Pose2 & | x | ||
) |
Definition at line 42 of file testPoseTranslationPrior.cpp.
Vector evalFactorError3 | ( | const Pose3TranslationPrior & | factor, |
const Pose3 & | x | ||
) |
Definition at line 37 of file testPoseTranslationPrior.cpp.
int main | ( | ) |
Definition at line 127 of file testPoseTranslationPrior.cpp.
const Point2 point2A | ( | 1. | 0, |
2. | 0 | ||
) |
const Point2 point2B | ( | 4. | 0, |
6. | 0 | ||
) |
const Point3 point3A | ( | 1. | 0, |
2. | 0, | ||
3. | 0 | ||
) |
const Point3 point3B | ( | 4. | 0, |
6. | 0, | ||
8. | 0 | ||
) |
TEST | ( | testPoseTranslationFactor | , |
level2_error | |||
) |
Definition at line 117 of file testPoseTranslationPrior.cpp.
TEST | ( | testPoseTranslationFactor | , |
level2_zero_error | |||
) |
Definition at line 107 of file testPoseTranslationPrior.cpp.
TEST | ( | testPoseTranslationFactor | , |
level3_error | |||
) |
Definition at line 57 of file testPoseTranslationPrior.cpp.
TEST | ( | testPoseTranslationFactor | , |
level3_zero_error | |||
) |
Definition at line 47 of file testPoseTranslationPrior.cpp.
TEST | ( | testPoseTranslationFactor | , |
pitched3_error | |||
) |
Definition at line 77 of file testPoseTranslationPrior.cpp.
TEST | ( | testPoseTranslationFactor | , |
pitched3_zero_error | |||
) |
Definition at line 67 of file testPoseTranslationPrior.cpp.
TEST | ( | testPoseTranslationFactor | , |
smallrot3_error | |||
) |
Definition at line 97 of file testPoseTranslationPrior.cpp.
TEST | ( | testPoseTranslationFactor | , |
smallrot3_zero_error | |||
) |
Definition at line 87 of file testPoseTranslationPrior.cpp.
const SharedNoiseModel model2 = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.2)) |
Definition at line 18 of file testPoseTranslationPrior.cpp.
const SharedNoiseModel model3 = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.2, 0.3)) |
Definition at line 19 of file testPoseTranslationPrior.cpp.
const gtsam::Key poseKey = 1 |
Definition at line 26 of file testPoseTranslationPrior.cpp.
const Rot2 rot2A |
Definition at line 34 of file testPoseTranslationPrior.cpp.
Definition at line 34 of file testPoseTranslationPrior.cpp.
const Rot3 rot3A |
Definition at line 30 of file testPoseTranslationPrior.cpp.
Definition at line 30 of file testPoseTranslationPrior.cpp.
const Rot3 rot3C = Rot3::RzRyRx(0.1, 0.2, 0.3) |
Definition at line 30 of file testPoseTranslationPrior.cpp.
const double tol = 1e-5 |
Definition at line 24 of file testPoseTranslationPrior.cpp.