testRelativeElevationFactor.cpp File Reference

#include <CppUnitLite/TestHarness.h>
#include <gtsam_unstable/slam/RelativeElevationFactor.h>
#include <gtsam/base/numericalDerivative.h>

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Functions
Vector	evalFactorError (const RelativeElevationFactor &factor, const Pose3 &x, const Point3 &p)
int	main ()
const Point3	point1 (3.0, 4.0, 2.0)
	TEST (testRelativeElevationFactor, level_negative)
	TEST (testRelativeElevationFactor, level_positive)
	TEST (testRelativeElevationFactor, level_zero_error)
	TEST (testRelativeElevationFactor, rotated_negative1)
	TEST (testRelativeElevationFactor, rotated_negative2)
	TEST (testRelativeElevationFactor, rotated_positive)
	TEST (testRelativeElevationFactor, rotated_zero_error)

Variables
SharedNoiseModel	model1 = noiseModel::Unit::Create(1)
const gtsam::Key	pointKey = 2
const Pose3	pose1 (Rot3(), Point3(2.0, 3.0, 4.0))
const Pose3	pose2 (Rot3::Pitch(-M_PI_2), Point3(2.0, 3.0, 4.0))
const Pose3	pose3 (Rot3::RzRyRx(0.1, 0.2, 0.3), Point3(2.0, 3.0, 4.0))
const gtsam::Key	poseKey = 1
const double	tol = 1e-5

Detailed Description

Date

Aug 17, 2012

Author

Alex Cunningham

Definition in file testRelativeElevationFactor.cpp.

Function Documentation

evalFactorError()

Vector evalFactorError	(	const RelativeElevationFactor &	factor,
		const Pose3 &	x,
		const Point3 &	p
	)

Definition at line 28 of file testRelativeElevationFactor.cpp.

main()

int main

(

)

Definition at line 166 of file testRelativeElevationFactor.cpp.

point1()

const Point3 point1	(	3.	0,
		4.	0,
		2.	0
	)

TEST() [1/7]

TEST	(	testRelativeElevationFactor	,
		level_negative
	)

Definition at line 71 of file testRelativeElevationFactor.cpp.

TEST() [2/7]

TEST	(	testRelativeElevationFactor	,
		level_positive
	)

Definition at line 52 of file testRelativeElevationFactor.cpp.

TEST() [3/7]

TEST	(	testRelativeElevationFactor	,
		level_zero_error
	)

Definition at line 33 of file testRelativeElevationFactor.cpp.

TEST() [4/7]

TEST	(	testRelativeElevationFactor	,
		rotated_negative1
	)

Definition at line 128 of file testRelativeElevationFactor.cpp.

TEST() [5/7]

TEST	(	testRelativeElevationFactor	,
		rotated_negative2
	)

Definition at line 147 of file testRelativeElevationFactor.cpp.

TEST() [6/7]

TEST	(	testRelativeElevationFactor	,
		rotated_positive
	)

Definition at line 109 of file testRelativeElevationFactor.cpp.

TEST() [7/7]

TEST	(	testRelativeElevationFactor	,
		rotated_zero_error
	)

Definition at line 90 of file testRelativeElevationFactor.cpp.

Variable Documentation

model1

SharedNoiseModel model1 = noiseModel::Unit::Create(1)

Definition at line 17 of file testRelativeElevationFactor.cpp.

pointKey

const gtsam::Key pointKey = 2

Definition at line 25 of file testRelativeElevationFactor.cpp.

pose1

const Pose3 pose1(Rot3(), Point3(2.0, 3.0, 4.0))

pose2

const Pose3 pose2(Rot3::Pitch(-M_PI_2), Point3(2.0, 3.0, 4.0))

pose3

const Pose3 pose3(Rot3::RzRyRx(0.1, 0.2, 0.3), Point3(2.0, 3.0, 4.0))

poseKey

const gtsam::Key poseKey = 1

Definition at line 25 of file testRelativeElevationFactor.cpp.

tol

const double tol = 1e-5

Definition at line 19 of file testRelativeElevationFactor.cpp.