Unit tests for Rot3 class - common between Matrix and Quaternion. More...
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/base/testLie.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/lieProxies.h>
#include <CppUnitLite/TestHarness.h>
Go to the source code of this file.
Classes | |
class | AngularVelocity |
Macros | |
#define | CHECK_AXIS_ANGLE(expectedAxis, expectedAngle, rotation) |
#define | CHECK_OMEGA(X, Y, Z) |
#define | CHECK_OMEGA_ZERO(X, Y, Z) |
Functions | |
AngularVelocity | bracket (const AngularVelocity &X, const AngularVelocity &Y) |
Matrix | Cayley (const Matrix &A) |
int | main () |
static Point3 | P (0.2, 0.7, -2.0) |
double | pitch_proxy (Rot3 const &R) |
double | roll_proxy (Rot3 const &R) |
Vector3 | rpy_proxy (Rot3 const &R) |
Vector3 | RQ_proxy (Matrix3 const &R) |
Rot3 | RzRyRx_proxy (double const &a, double const &b, double const &c) |
Rot3 | RzRyRx_proxy (Vector3 const &xyz) |
Rot3 | slow_but_correct_Rodrigues (const Vector &w) |
TEST (Rot3, AxisAngle) | |
TEST (Rot3, axisAngle) | |
TEST (Rot3, AxisAngle2) | |
TEST (Rot3, BCH) | |
TEST (Rot3, between) | |
TEST (Rot3, Cayley) | |
TEST (Rot3, chart) | |
TEST (Rot3, ChartDerivatives) | |
TEST (Rot3, ClosestTo) | |
TEST (Rot3, compose) | |
TEST (Rot3, Concept) | |
TEST (Rot3, constructor) | |
TEST (Rot3, constructor2) | |
TEST (Rot3, constructor3) | |
TEST (Rot3, ConvertQuaternion) | |
TEST (Rot3, determinant) | |
TEST (Rot3, equals) | |
TEST (Rot3, expmap_logmap) | |
TEST (Rot3, ExpmapChainRule) | |
TEST (Rot3, expmapChainRule) | |
TEST (Rot3, expmapStability) | |
TEST (Rot3, Invariants) | |
TEST (Rot3, inverse) | |
TEST (Rot3, LieGroupDerivatives) | |
TEST (Rot3, log) | |
TEST (Rot3, logmapStability) | |
TEST (Rot3, manifold_expmap) | |
TEST (Rot3, pitch_derivative) | |
TEST (Rot3, quaternion) | |
TEST (Rot3, retract) | |
TEST (Rot3, retract_localCoordinates) | |
TEST (Rot3, retract_localCoordinates2) | |
TEST (Rot3, Rodrigues) | |
TEST (Rot3, Rodrigues2) | |
TEST (Rot3, Rodrigues3) | |
TEST (Rot3, Rodrigues4) | |
TEST (Rot3, roll_derivative) | |
TEST (Rot3, rotate_derivatives) | |
TEST (Rot3, rpy_derivative) | |
TEST (Rot3, RQ) | |
TEST (Rot3, RQ_derivative) | |
TEST (Rot3, RzRyRx_scalars_derivative) | |
TEST (Rot3, RzRyRx_vector_derivative) | |
TEST (Rot3, slerp) | |
TEST (Rot3, stream) | |
TEST (Rot3, transpose) | |
TEST (Rot3, unrotate) | |
TEST (Rot3, xyz) | |
TEST (Rot3, xyz_derivative) | |
TEST (Rot3, yaw_derivative) | |
TEST (Rot3, yaw_pitch_roll) | |
TEST (Rot3, Ypr_derivative) | |
TEST (Rot3, ypr_derivative) | |
Vector3 | xyz_proxy (Rot3 const &R) |
double | yaw_proxy (Rot3 const &R) |
Rot3 | Ypr_proxy (double const &y, double const &p, double const &r) |
Vector3 | ypr_proxy (Rot3 const &R) |
Variables | |
static double | epsilon = 0.001 |
static double | error = 1e-9 |
static Rot3 | R = Rot3::Rodrigues(0.1, 0.4, 0.2) |
Unit tests for Rot3 class - common between Matrix and Quaternion.
Unit tests for Rot3Q class.
Unit tests for Rot3 class, Quaternion specific.
Definition in file testRot3.cpp.
#define CHECK_AXIS_ANGLE | ( | expectedAxis, | |
expectedAngle, | |||
rotation | |||
) |
AngularVelocity bracket | ( | const AngularVelocity & | X, |
const AngularVelocity & | Y | ||
) |
Definition at line 337 of file testRot3.cpp.
Definition at line 620 of file testRot3.cpp.
int main | ( | ) |
Definition at line 1000 of file testRot3.cpp.
|
static |
double pitch_proxy | ( | Rot3 const & | R | ) |
Definition at line 914 of file testRot3.cpp.
double roll_proxy | ( | Rot3 const & | R | ) |
Definition at line 901 of file testRot3.cpp.
Definition at line 888 of file testRot3.cpp.
Vector3 RQ_proxy | ( | Matrix3 const & | R | ) |
Definition at line 824 of file testRot3.cpp.
Rot3 RzRyRx_proxy | ( | double const & | a, |
double const & | b, | ||
double const & | c | ||
) |
Definition at line 773 of file testRot3.cpp.
Definition at line 792 of file testRot3.cpp.
Definition at line 97 of file testRot3.cpp.
TEST | ( | Rot3 | , |
AxisAngle | |||
) |
Definition at line 106 of file testRot3.cpp.
TEST | ( | Rot3 | , |
axisAngle | |||
) |
TEST | ( | Rot3 | , |
AxisAngle2 | |||
) |
Definition at line 124 of file testRot3.cpp.
TEST | ( | Rot3 | , |
BCH | |||
) |
Definition at line 342 of file testRot3.cpp.
TEST | ( | Rot3 | , |
between | |||
) |
Definition at line 420 of file testRot3.cpp.
Definition at line 626 of file testRot3.cpp.
TEST | ( | Rot3 | , |
chart | |||
) |
Definition at line 47 of file testRot3.cpp.
TEST | ( | Rot3 | , |
ChartDerivatives | |||
) |
Definition at line 687 of file testRot3.cpp.
TEST | ( | Rot3 | , |
ClosestTo | |||
) |
Definition at line 698 of file testRot3.cpp.
TEST | ( | Rot3 | , |
compose | |||
) |
Definition at line 384 of file testRot3.cpp.
TEST | ( | Rot3 | , |
Concept | |||
) |
Definition at line 40 of file testRot3.cpp.
TEST | ( | Rot3 | , |
constructor | |||
) |
Definition at line 54 of file testRot3.cpp.
TEST | ( | Rot3 | , |
constructor2 | |||
) |
Definition at line 63 of file testRot3.cpp.
TEST | ( | Rot3 | , |
constructor3 | |||
) |
Definition at line 72 of file testRot3.cpp.
TEST | ( | Rot3 | , |
ConvertQuaternion | |||
) |
Definition at line 601 of file testRot3.cpp.
TEST | ( | Rot3 | , |
determinant | |||
) |
Definition at line 940 of file testRot3.cpp.
Definition at line 88 of file testRot3.cpp.
TEST | ( | Rot3 | , |
expmap_logmap | |||
) |
Definition at line 280 of file testRot3.cpp.
TEST | ( | Rot3 | , |
ExpmapChainRule | |||
) |
Definition at line 960 of file testRot3.cpp.
TEST | ( | Rot3 | , |
expmapChainRule | |||
) |
Definition at line 979 of file testRot3.cpp.
TEST | ( | Rot3 | , |
expmapStability | |||
) |
Definition at line 534 of file testRot3.cpp.
TEST | ( | Rot3 | , |
Invariants | |||
) |
Definition at line 663 of file testRot3.cpp.
Definition at line 404 of file testRot3.cpp.
TEST | ( | Rot3 | , |
LieGroupDerivatives | |||
) |
Definition at line 678 of file testRot3.cpp.
Definition at line 195 of file testRot3.cpp.
TEST | ( | Rot3 | , |
logmapStability | |||
) |
Definition at line 550 of file testRot3.cpp.
TEST | ( | Rot3 | , |
manifold_expmap | |||
) |
Definition at line 298 of file testRot3.cpp.
TEST | ( | Rot3 | , |
pitch_derivative | |||
) |
Definition at line 916 of file testRot3.cpp.
TEST | ( | Rot3 | , |
quaternion | |||
) |
Definition at line 563 of file testRot3.cpp.
TEST | ( | Rot3 | , |
retract | |||
) |
Definition at line 183 of file testRot3.cpp.
TEST | ( | Rot3 | , |
retract_localCoordinates | |||
) |
Definition at line 273 of file testRot3.cpp.
TEST | ( | Rot3 | , |
retract_localCoordinates2 | |||
) |
Definition at line 288 of file testRot3.cpp.
TEST | ( | Rot3 | , |
Rodrigues | |||
) |
Definition at line 137 of file testRot3.cpp.
TEST | ( | Rot3 | , |
Rodrigues2 | |||
) |
Definition at line 146 of file testRot3.cpp.
TEST | ( | Rot3 | , |
Rodrigues3 | |||
) |
Definition at line 160 of file testRot3.cpp.
TEST | ( | Rot3 | , |
Rodrigues4 | |||
) |
Definition at line 169 of file testRot3.cpp.
TEST | ( | Rot3 | , |
roll_derivative | |||
) |
Definition at line 903 of file testRot3.cpp.
TEST | ( | Rot3 | , |
rotate_derivatives | |||
) |
Definition at line 355 of file testRot3.cpp.
TEST | ( | Rot3 | , |
rpy_derivative | |||
) |
Definition at line 890 of file testRot3.cpp.
Definition at line 504 of file testRot3.cpp.
TEST | ( | Rot3 | , |
RQ_derivative | |||
) |
Definition at line 829 of file testRot3.cpp.
TEST | ( | Rot3 | , |
RzRyRx_scalars_derivative | |||
) |
Definition at line 777 of file testRot3.cpp.
TEST | ( | Rot3 | , |
RzRyRx_vector_derivative | |||
) |
Definition at line 794 of file testRot3.cpp.
TEST | ( | Rot3 | , |
slerp | |||
) |
Definition at line 644 of file testRot3.cpp.
TEST | ( | Rot3 | , |
stream | |||
) |
Definition at line 634 of file testRot3.cpp.
TEST | ( | Rot3 | , |
transpose | |||
) |
Definition at line 80 of file testRot3.cpp.
TEST | ( | Rot3 | , |
unrotate | |||
) |
Definition at line 369 of file testRot3.cpp.
TEST | ( | Rot3 | , |
xyz | |||
) |
Definition at line 452 of file testRot3.cpp.
TEST | ( | Rot3 | , |
xyz_derivative | |||
) |
Definition at line 864 of file testRot3.cpp.
TEST | ( | Rot3 | , |
yaw_derivative | |||
) |
Definition at line 929 of file testRot3.cpp.
TEST | ( | Rot3 | , |
yaw_pitch_roll | |||
) |
Definition at line 483 of file testRot3.cpp.
TEST | ( | Rot3 | , |
Ypr_derivative | |||
) |
Definition at line 809 of file testRot3.cpp.
TEST | ( | Rot3 | , |
ypr_derivative | |||
) |
Definition at line 877 of file testRot3.cpp.
Definition at line 862 of file testRot3.cpp.
double yaw_proxy | ( | Rot3 const & | R | ) |
Definition at line 927 of file testRot3.cpp.
Rot3 Ypr_proxy | ( | double const & | y, |
double const & | p, | ||
double const & | r | ||
) |
Definition at line 805 of file testRot3.cpp.
Definition at line 875 of file testRot3.cpp.
|
static |
Definition at line 37 of file testRot3.cpp.
|
static |
Definition at line 37 of file testRot3.cpp.
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static |
Definition at line 35 of file testRot3.cpp.