Unit tests for SO3, as a GTSAM-adapted Lie Group. More...
#include <CppUnitLite/TestHarness.h>#include <gtsam/base/Testable.h>#include <gtsam/base/testLie.h>#include <gtsam/geometry/SO3.h>
Go to the source code of this file.
Namespaces | |
| exmap_derivative | |
| test_cases | |
Functions | |
| int | main () |
| TEST (Matrix, compose) | |
| TEST (SO3, ApplyDexp) | |
| TEST (SO3, ApplyInvDexp) | |
| TEST (SO3, ApplyLeftJacobian) | |
| TEST (SO3, ApplyLeftJacobianInverse) | |
| TEST (SO3, ChartDerivatives) | |
| TEST (SO3, ChordalMean) | |
| TEST (SO3, ClosestTo) | |
| TEST (SO3, Concept) | |
| TEST (SO3, Constructors) | |
| TEST (SO3, CrossB) | |
| TEST (SO3, DoubleCrossC) | |
| TEST (SO3, Expmap) | |
| TEST (SO3, ExpmapDerivative) | |
| TEST (SO3, ExpmapDerivative2) | |
| TEST (SO3, ExpmapDerivative3) | |
| TEST (SO3, ExpmapDerivative4) | |
| TEST (SO3, ExpmapDerivative5) | |
| TEST (SO3, ExpmapDerivative6) | |
| TEST (SO3, ExpmapFunctor) | |
| TEST (SO3, Hat) | |
| TEST (SO3, Identity) | |
| TEST (SO3, Invariants) | |
| TEST (SO3, JacobianInverses) | |
| TEST (SO3, JacobianLogmap) | |
| TEST (SO3, LieGroupDerivatives) | |
| TEST (SO3, Local) | |
| TEST (SO3, Logmap) | |
| TEST (SO3, LogmapDerivative) | |
| TEST (SO3, Retract) | |
| TEST (SO3, vec) | |
| TEST (SO3, Vee) | |
| Vector3 | testDexpL (const Vector3 &dw) |
| static const Vector3 | exmap_derivative::w (0.1, 0.27, -0.2) |
Detailed Description
Unit tests for SO3, as a GTSAM-adapted Lie Group.
Definition in file testSO3.cpp.
Function Documentation
◆ main()
| int main | ( | ) |
Definition at line 481 of file testSO3.cpp.
◆ TEST() [1/32]
| TEST | ( | Matrix | , |
| compose | |||
| ) |
Definition at line 465 of file testSO3.cpp.
◆ TEST() [2/32]
| TEST | ( | SO3 | , |
| ApplyDexp | |||
| ) |
Definition at line 368 of file testSO3.cpp.
◆ TEST() [3/32]
| TEST | ( | SO3 | , |
| ApplyInvDexp | |||
| ) |
Definition at line 389 of file testSO3.cpp.
◆ TEST() [4/32]
| TEST | ( | SO3 | , |
| ApplyLeftJacobian | |||
| ) |
Definition at line 411 of file testSO3.cpp.
◆ TEST() [5/32]
| TEST | ( | SO3 | , |
| ApplyLeftJacobianInverse | |||
| ) |
Definition at line 432 of file testSO3.cpp.
◆ TEST() [6/32]
| TEST | ( | SO3 | , |
| ChartDerivatives | |||
| ) |
Definition at line 150 of file testSO3.cpp.
◆ TEST() [7/32]
| TEST | ( | SO3 | , |
| ChordalMean | |||
| ) |
Definition at line 78 of file testSO3.cpp.
◆ TEST() [8/32]
| TEST | ( | SO3 | , |
| ClosestTo | |||
| ) |
Definition at line 54 of file testSO3.cpp.
◆ TEST() [9/32]
| TEST | ( | SO3 | , |
| Concept | |||
| ) |
Definition at line 38 of file testSO3.cpp.
◆ TEST() [10/32]
| TEST | ( | SO3 | , |
| Constructors | |||
| ) |
Definition at line 45 of file testSO3.cpp.
◆ TEST() [11/32]
| TEST | ( | SO3 | , |
| CrossB | |||
| ) |
Definition at line 332 of file testSO3.cpp.
◆ TEST() [12/32]
| TEST | ( | SO3 | , |
| DoubleCrossC | |||
| ) |
Definition at line 350 of file testSO3.cpp.
◆ TEST() [13/32]
Definition at line 122 of file testSO3.cpp.
◆ TEST() [14/32]
| TEST | ( | SO3 | , |
| ExpmapDerivative | |||
| ) |
Definition at line 198 of file testSO3.cpp.
◆ TEST() [15/32]
| TEST | ( | SO3 | , |
| ExpmapDerivative2 | |||
| ) |
Definition at line 210 of file testSO3.cpp.
◆ TEST() [16/32]
| TEST | ( | SO3 | , |
| ExpmapDerivative3 | |||
| ) |
Definition at line 221 of file testSO3.cpp.
◆ TEST() [17/32]
| TEST | ( | SO3 | , |
| ExpmapDerivative4 | |||
| ) |
Definition at line 232 of file testSO3.cpp.
◆ TEST() [18/32]
| TEST | ( | SO3 | , |
| ExpmapDerivative5 | |||
| ) |
Definition at line 260 of file testSO3.cpp.
◆ TEST() [19/32]
| TEST | ( | SO3 | , |
| ExpmapDerivative6 | |||
| ) |
Definition at line 276 of file testSO3.cpp.
◆ TEST() [20/32]
| TEST | ( | SO3 | , |
| ExpmapFunctor | |||
| ) |
Definition at line 158 of file testSO3.cpp.
◆ TEST() [21/32]
| TEST | ( | SO3 | , |
| Hat | |||
| ) |
Definition at line 85 of file testSO3.cpp.
◆ TEST() [22/32]
| TEST | ( | SO3 | , |
| Identity | |||
| ) |
Definition at line 28 of file testSO3.cpp.
◆ TEST() [23/32]
| TEST | ( | SO3 | , |
| Invariants | |||
| ) |
Definition at line 129 of file testSO3.cpp.
◆ TEST() [24/32]
| TEST | ( | SO3 | , |
| JacobianInverses | |||
| ) |
Definition at line 318 of file testSO3.cpp.
◆ TEST() [25/32]
| TEST | ( | SO3 | , |
| JacobianLogmap | |||
| ) |
Definition at line 296 of file testSO3.cpp.
◆ TEST() [26/32]
| TEST | ( | SO3 | , |
| LieGroupDerivatives | |||
| ) |
Definition at line 142 of file testSO3.cpp.
◆ TEST() [27/32]
| TEST | ( | SO3 | , |
| Local | |||
| ) |
Definition at line 101 of file testSO3.cpp.
◆ TEST() [28/32]
| TEST | ( | SO3 | , |
| Logmap | |||
| ) |
Definition at line 115 of file testSO3.cpp.
◆ TEST() [29/32]
| TEST | ( | SO3 | , |
| LogmapDerivative | |||
| ) |
Definition at line 286 of file testSO3.cpp.
◆ TEST() [30/32]
| TEST | ( | SO3 | , |
| Retract | |||
| ) |
Definition at line 108 of file testSO3.cpp.
◆ TEST() [31/32]
| TEST | ( | SO3 | , |
| vec | |||
| ) |
Definition at line 454 of file testSO3.cpp.
◆ TEST() [32/32]
| TEST | ( | SO3 | , |
| Vee | |||
| ) |
Definition at line 93 of file testSO3.cpp.
◆ testDexpL()
Definition at line 193 of file testSO3.cpp.