testBearingRangeFactor.cpp File Reference

Unit tests for BearingRangeFactor Class. More...

#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <gtsam/base/serialization.h>
#include <gtsam/base/serializationTestHelpers.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testBearingRangeFactor.cpp:

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Typedefs
typedef BearingRangeFactor< Pose2, Point2 >	BearingRangeFactor2D
typedef BearingRangeFactor< Pose3, Point3 >	BearingRangeFactor3D

Functions
	BOOST_CLASS_EXPORT (gtsam::noiseModel::Isotropic)
int	main ()
static SharedNoiseModel	model2D (noiseModel::Isotropic::Sigma(2, 0.5))
static SharedNoiseModel	model3D (noiseModel::Isotropic::Sigma(3, 0.5))
Key	pointKey (2)
Key	poseKey (1)
	TEST (BearingRangeFactor, Serialization2D)
	TEST (BearingRangeFactor, 2D)
	TEST (BearingRangeFactor, Serialization3D)

Variables
BearingRangeFactor2D	factor2D (poseKey, pointKey, 1, 2, model2D)
BearingRangeFactor3D	factor3D (poseKey, pointKey, Pose3().bearing(Point3(1, 0, 0)), 1, model3D)

Detailed Description

Unit tests for BearingRangeFactor Class.

Author

Frank Dellaert

Date

July 2015

Definition in file testBearingRangeFactor.cpp.

Typedef Documentation

typedef BearingRangeFactor<Pose2, Point2> BearingRangeFactor2D

Definition at line 35 of file testBearingRangeFactor.cpp.

typedef BearingRangeFactor<Pose3, Point3> BearingRangeFactor3D

Definition at line 39 of file testBearingRangeFactor.cpp.

Function Documentation

BOOST_CLASS_EXPORT

(

gtsam::noiseModel::Isotropic

)

int main

(

void

)

Definition at line 104 of file testBearingRangeFactor.cpp.

static SharedNoiseModel model2D ( noiseModel::Isotropic::Sigma(2, 0.5)  )

static

static SharedNoiseModel model3D ( noiseModel::Isotropic::Sigma(3, 0.5)  )

static

Key pointKey

(

2

)

Key poseKey

(

1

)

TEST	(	BearingRangeFactor	,
		Serialization2D
	)

Definition at line 50 of file testBearingRangeFactor.cpp.

TEST	(	BearingRangeFactor	,
		2D
	)

Definition at line 57 of file testBearingRangeFactor.cpp.

TEST	(	BearingRangeFactor	,
		Serialization3D
	)

Definition at line 76 of file testBearingRangeFactor.cpp.

Variable Documentation

BearingRangeFactor2D factor2D(poseKey, pointKey, 1, 2, model2D)

BearingRangeFactor3D factor3D(poseKey, pointKey, Pose3().bearing(Point3(1, 0, 0)), 1, model3D)