Unit test for the InertialNavFactor. More...
#include <gtsam/navigation/TangentPreintegration.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <CppUnitLite/TestHarness.h>
#include "imuFactorTesting.h"
Go to the source code of this file.
Namespaces | |
testing | |
Functions | |
Vector9 | f (const Vector9 &zeta, const Vector3 &a, const Vector3 &w) |
int | main () |
static std::shared_ptr< PreintegrationParams > | testing::Params () |
TEST (ImuFactor, BiasCorrectionJacobians) | |
TEST (TangentPreintegration, Compose) | |
TEST (TangentPreintegration, computeError) | |
TEST (TangentPreintegration, MergedBiasDerivatives) | |
TEST (TangentPreintegration, UpdateEstimate1) | |
TEST (TangentPreintegration, UpdateEstimate2) | |
Variables | |
static const double | kDt = 0.1 |
Unit test for the InertialNavFactor.
Definition in file testTangentPreintegration.cpp.
Definition at line 32 of file testTangentPreintegration.cpp.
int main | ( | ) |
Definition at line 171 of file testTangentPreintegration.cpp.
TEST | ( | ImuFactor | , |
BiasCorrectionJacobians | |||
) |
Definition at line 77 of file testTangentPreintegration.cpp.
TEST | ( | TangentPreintegration | , |
Compose | |||
) |
Definition at line 120 of file testTangentPreintegration.cpp.
TEST | ( | TangentPreintegration | , |
computeError | |||
) |
Definition at line 100 of file testTangentPreintegration.cpp.
TEST | ( | TangentPreintegration | , |
MergedBiasDerivatives | |||
) |
Definition at line 149 of file testTangentPreintegration.cpp.
TEST | ( | TangentPreintegration | , |
UpdateEstimate1 | |||
) |
Definition at line 48 of file testTangentPreintegration.cpp.
TEST | ( | TangentPreintegration | , |
UpdateEstimate2 | |||
) |
Definition at line 62 of file testTangentPreintegration.cpp.
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static |
Definition at line 30 of file testTangentPreintegration.cpp.