Typedefs | Functions | Variables
test_scan_match_constraints.cpp File Reference
#include <pose_graph/pose_graph.h>
#include <pose_graph/pose_graph_message.h>
#include <graph_slam/constraints/karto_laser_constraints.h>
#include <pose_graph/geometry.h>
#include <pose_graph/transforms.h>
#include <pose_graph/exception.h>
#include <pose_graph/spa_conversion.h>
#include <tf/transform_datatypes.h>
#include <std_msgs/Int16.h>
#include <gtest/gtest.h>
#include <iostream>
#include <boost/assign.hpp>
#include <boost/foreach.hpp>
Include dependency graph for test_scan_match_constraints.cpp:

Go to the source code of this file.

Typedefs

typedef std::vector< gs::ChainChainVec
typedef std::map< pg::NodeId,
sm::LaserScan > 
NodeScanMap

Functions

template<class T >
bool equalVectors (const vector< T > &v1, const vector< T > &v2)
int main (int argc, char **argv)
gm::Pose makePose (const double x, const double y, const double theta=0)
template<class T >
ostream & operator<< (ostream &str, const vector< T > &s)
 TEST (ScanMatcher, LoopClosure)
 TEST (ScanMatcher, Sequential)

Variables

const double PI = 3.14159265

Detailed Description

Test the scan matcher constraint generation

Author:
Bhaskara Marthi

Definition in file test_scan_match_constraints.cpp.


Typedef Documentation

typedef std::vector<gs::Chain> ChainVec

Definition at line 66 of file test_scan_match_constraints.cpp.

typedef std::map<pg::NodeId, sm::LaserScan> NodeScanMap

Definition at line 65 of file test_scan_match_constraints.cpp.


Function Documentation

template<class T >
bool equalVectors ( const vector< T > &  v1,
const vector< T > &  v2 
)

Definition at line 74 of file test_scan_match_constraints.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 214 of file test_scan_match_constraints.cpp.

gm::Pose makePose ( const double  x,
const double  y,
const double  theta = 0 
)

Definition at line 68 of file test_scan_match_constraints.cpp.

template<class T >
ostream& operator<< ( ostream &  str,
const vector< T > &  s 
)

Definition at line 86 of file test_scan_match_constraints.cpp.

TEST ( ScanMatcher  ,
LoopClosure   
)

gs::WithOptimizedPoses opt(&matcher, opt_poses); gs::ChainVec chains = matcher.possibleLoopClosures (g, nodes[15], makePose(0.1, 0.1), scan);

gs::Chain c1; c1 += nodes[9], nodes[8], nodes[7], nodes[6], nodes[5], nodes[4], nodes[3], nodes[2]; EXPECT_EQ(1u, chains.size()); EXPECT_PRED2(equalVectors<pg::NodeId>, c1, chains[0]);

Definition at line 93 of file test_scan_match_constraints.cpp.

TEST ( ScanMatcher  ,
Sequential   
)

Definition at line 148 of file test_scan_match_constraints.cpp.


Variable Documentation

const double PI = 3.14159265

Definition at line 63 of file test_scan_match_constraints.cpp.



graph_slam
Author(s): Bhaskara Marthi
autogenerated on Tue Jan 7 2014 11:17:21