Typedefs | Functions | Variables
testRotateFactor.cpp File Reference
#include <gtsam/slam/RotateFactor.h>
#include <gtsam/base/Testable.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>
#include <vector>
Include dependency graph for testRotateFactor.cpp:

Go to the source code of this file.

Typedefs

typedef noiseModel::Isotropic::shared_ptr Model
 

Functions

static const Point3 cameraX (0, 1, 0)
 
static const Point3 cameraY (0, 0, 1)
 
static const Point3 cameraZ (1, 0, 0)
 
int main ()
 
 TEST (RotateDirectionsFactor, Initialization)
 
 TEST (RotateDirectionsFactor, minimization)
 
 TEST (RotateDirectionsFactor, test)
 
 TEST (RotateFactor, checkMath)
 
 TEST (RotateFactor, minimization)
 
 TEST (RotateFactor, test)
 

Variables

static const Rot3 c1Zc2 = iRc.inverse() * i1Ri2 * iRc
 
static const Rot3 c2Zc3 = iRc.inverse() * i2Ri3 * iRc
 
static const Rot3 c3Zc4 = iRc.inverse() * i3Ri4 * iRc
 
static const Rot3 i1Ri2 = Rot3::AxisAngle(p1, 1)
 
static const Rot3 i2Ri3 = Rot3::AxisAngle(p2, 1)
 
static const Rot3 i3Ri4 = Rot3::AxisAngle(p3, 1)
 
static const Rot3 iRc (cameraX, cameraY, cameraZ)
 
static const double kDegree = M_PI / 180
 
static const Unit3 p1 (1, 0, 0)
 
static const Unit3 p2 (0, 1, 0)
 
static const Unit3 p3 (0, 0, 1)
 
static const Unit3 z1 = iRc.inverse() * p1
 
static const Unit3 z2 = iRc.inverse() * p2
 
static const Unit3 z3 = iRc.inverse() * p3
 

Typedef Documentation

◆ Model

Definition at line 46 of file testRotateFactor.cpp.

Function Documentation

◆ cameraX()

static const Point3 cameraX ( ,
,
 
)
static

◆ cameraY()

static const Point3 cameraY ( ,
,
 
)

◆ cameraZ()

static const Point3 cameraZ ( ,
,
 
)

◆ main()

int main ( )

Definition at line 228 of file testRotateFactor.cpp.

◆ TEST() [1/6]

TEST ( RotateDirectionsFactor  ,
Initialization   
)

Definition at line 195 of file testRotateFactor.cpp.

◆ TEST() [2/6]

TEST ( RotateDirectionsFactor  ,
minimization   
)

Definition at line 157 of file testRotateFactor.cpp.

◆ TEST() [3/6]

TEST ( RotateDirectionsFactor  ,
test   
)

Definition at line 125 of file testRotateFactor.cpp.

◆ TEST() [4/6]

TEST ( RotateFactor  ,
checkMath   
)

Definition at line 49 of file testRotateFactor.cpp.

◆ TEST() [5/6]

TEST ( RotateFactor  ,
minimization   
)

Definition at line 86 of file testRotateFactor.cpp.

◆ TEST() [6/6]

TEST ( RotateFactor  ,
test   
)

Definition at line 56 of file testRotateFactor.cpp.

Variable Documentation

◆ c1Zc2

const Rot3 c1Zc2 = iRc.inverse() * i1Ri2 * iRc
static

Definition at line 37 of file testRotateFactor.cpp.

◆ c2Zc3

const Rot3 c2Zc3 = iRc.inverse() * i2Ri3 * iRc
static

Definition at line 38 of file testRotateFactor.cpp.

◆ c3Zc4

const Rot3 c3Zc4 = iRc.inverse() * i3Ri4 * iRc
static

Definition at line 39 of file testRotateFactor.cpp.

◆ i1Ri2

const Rot3 i1Ri2 = Rot3::AxisAngle(p1, 1)
static

Definition at line 32 of file testRotateFactor.cpp.

◆ i2Ri3

const Rot3 i2Ri3 = Rot3::AxisAngle(p2, 1)
static

Definition at line 33 of file testRotateFactor.cpp.

◆ i3Ri4

const Rot3 i3Ri4 = Rot3::AxisAngle(p3, 1)
static

Definition at line 34 of file testRotateFactor.cpp.

◆ iRc

const Rot3 iRc(cameraX, cameraY, cameraZ)
static

◆ kDegree

const double kDegree = M_PI / 180
static

Definition at line 21 of file testRotateFactor.cpp.

◆ p1

const Unit3 p1(1, 0, 0)
static

◆ p2

const Unit3 p2(0, 1, 0)

◆ p3

const Unit3 p3(0, 0, 1)

◆ z1

const Unit3 z1 = iRc.inverse() * p1
static

Definition at line 42 of file testRotateFactor.cpp.

◆ z2

const Unit3 z2 = iRc.inverse() * p2
static

Definition at line 43 of file testRotateFactor.cpp.

◆ z3

const Unit3 z3 = iRc.inverse() * p3
static

Definition at line 44 of file testRotateFactor.cpp.



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autogenerated on Fri Nov 1 2024 03:43:26