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testTangentPreintegration.cpp File Reference

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"
Include dependency graph for testTangentPreintegration.cpp:

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< PreintegrationParamstesting::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
 

Detailed Description

Unit test for the InertialNavFactor.

Author
Frank Dellaert

Definition in file testTangentPreintegration.cpp.

Function Documentation

◆ f()

Vector9 f ( const Vector9 &  zeta,
const Vector3 a,
const Vector3 w 
)

Definition at line 32 of file testTangentPreintegration.cpp.

◆ main()

int main ( )

Definition at line 171 of file testTangentPreintegration.cpp.

◆ TEST() [1/6]

TEST ( ImuFactor  ,
BiasCorrectionJacobians   
)

Definition at line 77 of file testTangentPreintegration.cpp.

◆ TEST() [2/6]

TEST ( TangentPreintegration  ,
Compose   
)

Definition at line 120 of file testTangentPreintegration.cpp.

◆ TEST() [3/6]

TEST ( TangentPreintegration  ,
computeError   
)

Definition at line 100 of file testTangentPreintegration.cpp.

◆ TEST() [4/6]

TEST ( TangentPreintegration  ,
MergedBiasDerivatives   
)

Definition at line 149 of file testTangentPreintegration.cpp.

◆ TEST() [5/6]

TEST ( TangentPreintegration  ,
UpdateEstimate1   
)

Definition at line 48 of file testTangentPreintegration.cpp.

◆ TEST() [6/6]

TEST ( TangentPreintegration  ,
UpdateEstimate2   
)

Definition at line 62 of file testTangentPreintegration.cpp.

Variable Documentation

◆ kDt

const double kDt = 0.1
static

Definition at line 30 of file testTangentPreintegration.cpp.



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autogenerated on Sat Nov 16 2024 04:09:54