Typedefs | Functions | Variables
testPoseTranslationPrior.cpp File Reference
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/slam/PoseTranslationPrior.h>
Include dependency graph for testPoseTranslationPrior.cpp:

Go to the source code of this file.

Typedefs

typedef PoseTranslationPrior< Pose2Pose2TranslationPrior
 
typedef PoseTranslationPrior< Pose3Pose3TranslationPrior
 

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
 

Detailed Description

Date
Aug 19, 2012
Author
Alex Cunningham

Definition in file testPoseTranslationPrior.cpp.

Typedef Documentation

◆ Pose2TranslationPrior

Definition at line 21 of file testPoseTranslationPrior.cpp.

◆ Pose3TranslationPrior

Definition at line 22 of file testPoseTranslationPrior.cpp.

Function Documentation

◆ evalFactorError2()

Vector evalFactorError2 ( const Pose2TranslationPrior factor,
const Pose2 x 
)

Definition at line 42 of file testPoseTranslationPrior.cpp.

◆ evalFactorError3()

Vector evalFactorError3 ( const Pose3TranslationPrior factor,
const Pose3 x 
)

Definition at line 37 of file testPoseTranslationPrior.cpp.

◆ main()

int main ( )

Definition at line 127 of file testPoseTranslationPrior.cpp.

◆ point2A()

const Point2 point2A ( 1.  0,
2.  0 
)

◆ point2B()

const Point2 point2B ( 4.  0,
6.  0 
)

◆ point3A()

const Point3 point3A ( 1.  0,
2.  0,
3.  0 
)

◆ point3B()

const Point3 point3B ( 4.  0,
6.  0,
8.  0 
)

◆ TEST() [1/8]

TEST ( testPoseTranslationFactor  ,
level2_error   
)

Definition at line 117 of file testPoseTranslationPrior.cpp.

◆ TEST() [2/8]

TEST ( testPoseTranslationFactor  ,
level2_zero_error   
)

Definition at line 107 of file testPoseTranslationPrior.cpp.

◆ TEST() [3/8]

TEST ( testPoseTranslationFactor  ,
level3_error   
)

Definition at line 57 of file testPoseTranslationPrior.cpp.

◆ TEST() [4/8]

TEST ( testPoseTranslationFactor  ,
level3_zero_error   
)

Definition at line 47 of file testPoseTranslationPrior.cpp.

◆ TEST() [5/8]

TEST ( testPoseTranslationFactor  ,
pitched3_error   
)

Definition at line 77 of file testPoseTranslationPrior.cpp.

◆ TEST() [6/8]

TEST ( testPoseTranslationFactor  ,
pitched3_zero_error   
)

Definition at line 67 of file testPoseTranslationPrior.cpp.

◆ TEST() [7/8]

TEST ( testPoseTranslationFactor  ,
smallrot3_error   
)

Definition at line 97 of file testPoseTranslationPrior.cpp.

◆ TEST() [8/8]

TEST ( testPoseTranslationFactor  ,
smallrot3_zero_error   
)

Definition at line 87 of file testPoseTranslationPrior.cpp.

Variable Documentation

◆ model2

const SharedNoiseModel model2 = noiseModel::Diagonal::Sigmas(Vector2(0.1, 0.2))

Definition at line 18 of file testPoseTranslationPrior.cpp.

◆ model3

const SharedNoiseModel model3 = noiseModel::Diagonal::Sigmas(Vector3(0.1, 0.2, 0.3))

Definition at line 19 of file testPoseTranslationPrior.cpp.

◆ poseKey

const gtsam::Key poseKey = 1

Definition at line 26 of file testPoseTranslationPrior.cpp.

◆ rot2A

const Rot2 rot2A

Definition at line 34 of file testPoseTranslationPrior.cpp.

◆ rot2B

const Rot2 rot2B = Rot2::fromAngle(M_PI_2)

Definition at line 34 of file testPoseTranslationPrior.cpp.

◆ rot3A

const Rot3 rot3A

Definition at line 30 of file testPoseTranslationPrior.cpp.

◆ rot3B

const Rot3 rot3B = Rot3::Pitch(-M_PI_2)

Definition at line 30 of file testPoseTranslationPrior.cpp.

◆ rot3C

const Rot3 rot3C = Rot3::RzRyRx(0.1, 0.2, 0.3)

Definition at line 30 of file testPoseTranslationPrior.cpp.

◆ tol

const double tol = 1e-5

Definition at line 24 of file testPoseTranslationPrior.cpp.



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