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25 using namespace gtsam;
27 static const double sigma = 2.0;
static int runAllTests(TestResult &result)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy y set format x g set format y g set format x2 g set format y2 g set format z g set angles radians set nogrid set key title set key left top Right noreverse box linetype linewidth samplen spacing width set nolabel set noarrow set nologscale set logscale x set set pointsize set encoding default set nopolar set noparametric set set set set surface set nocontour set clabel set mapping cartesian set nohidden3d set cntrparam order set cntrparam linear set cntrparam levels auto set cntrparam points set size set set xzeroaxis lt lw set x2zeroaxis lt lw set yzeroaxis lt lw set y2zeroaxis lt lw set tics in set ticslevel set tics set mxtics default set mytics default set mx2tics default set my2tics default set xtics border mirror norotate autofreq set ytics border mirror norotate autofreq set ztics border nomirror norotate autofreq set nox2tics set noy2tics set timestamp bottom norotate set rrange[*:*] noreverse nowriteback set trange[*:*] noreverse nowriteback set urange[*:*] noreverse nowriteback set vrange[*:*] noreverse nowriteback set xlabel matrix size set x2label set timefmt d m y n H
std::shared_ptr< This > shared_ptr
virtual const Values & optimize()
static const Pose2 pose1(0, 0, 0)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
#define EXPECT_LONGS_EQUAL(expected, actual)
#define EXPECT(condition)
std::shared_ptr< Base > shared_ptr
A nonlinear optimizer that uses the Levenberg-Marquardt trust-region scheme.
double f2(const Vector2 &x)
static const SmartProjectionParams params
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > Matrix
const ValueType at(Key j) const
#define DOUBLES_EQUAL(expected, actual, threshold)
void addPrior(Key key, const T &prior, const SharedNoiseModel &model=nullptr)
static const double sigma
ConstantTwistScenario scenario(Z_3x1, Vector3(v, 0, 0))
void insert(Key j, const Vector &value)
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
TEST(SmartRangeFactor, constructor)
static const Point2 p(0, 10)
A smart factor for range-only SLAM that does initialization and marginalization.
Factor Graph consisting of non-linear factors.
IsDerived< DERIVEDFACTOR > push_back(std::shared_ptr< DERIVEDFACTOR > factor)
Add a factor directly using a shared_ptr.
static const Pose2 pose2(5, 0, 0)
bool assert_equal(const Matrix &expected, const Matrix &actual, double tol)
double range(const Point2 &point, OptionalJacobian< 1, 3 > H1={}, OptionalJacobian< 1, 2 > H2={}) const
NonlinearFactorGraph graph
static const Pose2 pose3(5, 5, 0)
Eigen::Matrix< double, Eigen::Dynamic, 1 > Vector
#define LONGS_EQUAL(expected, actual)
Jet< T, N > sqrt(const Jet< T, N > &f)
gtsam
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autogenerated on Fri Nov 1 2024 03:41:41