#include <CppUnitLite/TestHarness.h>
#include <gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>

Include dependency graph for testTransformBtwRobotsUnaryFactor.cpp:

Functions
int	main ()

Vector	predictionError (const Pose2 &org1_T_org2, const gtsam::Key &key, const TransformBtwRobotsUnaryFactor< gtsam::Pose2 > &factor)

	TEST (TransformBtwRobotsUnaryFactor, ConstructorAndEquals)

	TEST (TransformBtwRobotsUnaryFactor, Jacobian)

	TEST (TransformBtwRobotsUnaryFactor, Optimize)

	TEST (TransformBtwRobotsUnaryFactor, unwhitenedError)

	TEST (TransformBtwRobotsUnaryFactor, unwhitenedError2)

Function Documentation

◆ main()

int main ( )

Definition at line 303 of file testTransformBtwRobotsUnaryFactor.cpp.

◆ predictionError()

Vector predictionError	(	const Pose2 &	org1_T_org2,
		const gtsam::Key &	key,
		const TransformBtwRobotsUnaryFactor< gtsam::Pose2 > &	factor
	)

Definition at line 26 of file testTransformBtwRobotsUnaryFactor.cpp.

◆ TEST() [1/5]

TEST	(	TransformBtwRobotsUnaryFactor	,
		ConstructorAndEquals
	)

Definition at line 43 of file testTransformBtwRobotsUnaryFactor.cpp.

◆ TEST() [2/5]

TEST	(	TransformBtwRobotsUnaryFactor	,
		Jacobian
	)

Definition at line 198 of file testTransformBtwRobotsUnaryFactor.cpp.

◆ TEST() [3/5]

TEST	(	TransformBtwRobotsUnaryFactor	,
		Optimize
	)

Definition at line 138 of file testTransformBtwRobotsUnaryFactor.cpp.

◆ TEST() [4/5]

TEST	(	TransformBtwRobotsUnaryFactor	,
		unwhitenedError
	)

Definition at line 70 of file testTransformBtwRobotsUnaryFactor.cpp.

◆ TEST() [5/5]

TEST	(	TransformBtwRobotsUnaryFactor	,
		unwhitenedError2
	)

Definition at line 104 of file testTransformBtwRobotsUnaryFactor.cpp.

Functions