#include <pose_graph/constraint_graph.h>#include <pose_graph/graph_db.h>#include <graph_mapping_utils/utils.h>#include <pose_graph/exception.h>#include <pose_graph/message_conversion.h>#include <pose_graph/spa_2d_conversion.h>#include <pose_graph/graph_search.h>#include <tf/transform_datatypes.h>#include <gtest/gtest.h>#include <iostream>#include <boost/assign.hpp>#include <boost/foreach.hpp>#include <boost/filesystem.hpp>
Go to the source code of this file.
Namespaces | |
| namespace | geometry_msgs |
Typedefs | |
| typedef gm::Point::ConstPtr | PointPtr |
Functions | |
| bool | approxEqual (const gm::Pose &p1, const gm::Pose &p2) |
| bool | approxEqualPoses (const tf::Pose &p1, const tf::Pose &p2) |
| bool | approxEqualPts (const gm::Point &p1, const gm::Point &p2) |
| bool | closeTo (const double x, const double y) |
| double | dist (const tf::Pose &p, const tf::Pose &p2) |
| template<class S > | |
| bool | equalSets (set< S > s1, set< S > s2) |
| double | euclideanDistance (const gm::Point &p1, const gm::Point &p2) |
| unsigned | ind (const unsigned i, const unsigned j) |
| int | main (int argc, char **argv) |
| PoseWithPrecision | makeConstraint (double x, double y, double yaw, double x_prec=1, double y_prec=1, double xy_prec=0, double theta_prec=1) |
| PointPtr | makePoint (const double x, const double y, const double z=0.0) |
| template<class T > | |
| ostream & | operator<< (ostream &str, const vector< T > &s) |
| ostream & | operator<< (ostream &str, const tf::Pose &p) |
| template<class T > | |
| ostream & | operator<< (ostream &str, const set< T > &s) |
| bool | geometry_msgs::operator== (const gm::Pose &p1, const gm::Pose &p2) |
| void | printGraph (const ConstraintGraph &g) |
| TEST (PoseGraph, Optimization) | |
| TEST (PoseGraph, GraphOps) | |
| TEST (PoseGraph, GraphDB) | |
Variables | |
| const double | PI = 3.14159265 |
| const double | TOL = 1e-3 |
| typedef gm::Point::ConstPtr PointPtr |
Definition at line 163 of file test_pose_graph.cpp.
| bool approxEqual | ( | const gm::Pose & | p1, | |
| const gm::Pose & | p2 | |||
| ) |
Definition at line 149 of file test_pose_graph.cpp.
| bool approxEqualPoses | ( | const tf::Pose & | p1, | |
| const tf::Pose & | p2 | |||
| ) |
Definition at line 132 of file test_pose_graph.cpp.
| bool approxEqualPts | ( | const gm::Point & | p1, | |
| const gm::Point & | p2 | |||
| ) |
Definition at line 174 of file test_pose_graph.cpp.
| bool closeTo | ( | const double | x, | |
| const double | y | |||
| ) |
Definition at line 127 of file test_pose_graph.cpp.
| double dist | ( | const tf::Pose & | p, | |
| const tf::Pose & | p2 | |||
| ) |
Definition at line 429 of file test_pose_graph.cpp.
| bool equalSets | ( | set< S > | s1, | |
| set< S > | s2 | |||
| ) | [inline] |
Definition at line 88 of file test_pose_graph.cpp.
| double euclideanDistance | ( | const gm::Point & | p1, | |
| const gm::Point & | p2 | |||
| ) |
Definition at line 154 of file test_pose_graph.cpp.
| unsigned ind | ( | const unsigned | i, | |
| const unsigned | j | |||
| ) |
Definition at line 179 of file test_pose_graph.cpp.
| int main | ( | int | argc, | |
| char ** | argv | |||
| ) |
Definition at line 515 of file test_pose_graph.cpp.
| PoseWithPrecision makeConstraint | ( | double | x, | |
| double | y, | |||
| double | yaw, | |||
| double | x_prec = 1, |
|||
| double | y_prec = 1, |
|||
| double | xy_prec = 0, |
|||
| double | theta_prec = 1 | |||
| ) |
Definition at line 184 of file test_pose_graph.cpp.
| PointPtr makePoint | ( | const double | x, | |
| const double | y, | |||
| const double | z = 0.0 | |||
| ) |
Definition at line 165 of file test_pose_graph.cpp.
| ostream& operator<< | ( | ostream & | str, | |
| const vector< T > & | s | |||
| ) | [inline] |
Definition at line 108 of file test_pose_graph.cpp.
| ostream& operator<< | ( | ostream & | str, | |
| const tf::Pose & | p | |||
| ) |
Definition at line 78 of file test_pose_graph.cpp.
| ostream& operator<< | ( | ostream & | str, | |
| const set< T > & | s | |||
| ) | [inline] |
Definition at line 72 of file test_pose_graph.cpp.
| void printGraph | ( | const ConstraintGraph & | g | ) |
Definition at line 115 of file test_pose_graph.cpp.
| TEST | ( | PoseGraph | , | |
| Optimization | ||||
| ) |
Test that disconnected graphs throw exception
Once it's connected, it should work
Definition at line 438 of file test_pose_graph.cpp.
| TEST | ( | PoseGraph | , | |
| GraphOps | ||||
| ) |
Definition at line 275 of file test_pose_graph.cpp.
| TEST | ( | PoseGraph | , | |
| GraphDB | ||||
| ) |
Definition at line 200 of file test_pose_graph.cpp.
| const double PI = 3.14159265 |
Definition at line 512 of file test_pose_graph.cpp.
| const double TOL = 1e-3 |
Definition at line 125 of file test_pose_graph.cpp.