testExpressionFactor.cpp File Reference

unit tests for Block Automatic Differentiation More...

#include <gtsam/slam/expressions.h>
#include <gtsam/slam/GeneralSFMFactor.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign/list_of.hpp>

Include dependency graph for testExpressionFactor.cpp:

Go to the source code of this file.

Classes
struct	Combine
struct	leaf::MyValues
class	TestNaryFactor

Namespaces
	leaf
	test_operator

Typedefs
typedef Eigen::Matrix< double, 9, 9 >	Matrix9
typedef Eigen::Matrix< double, 9, 3 >	Matrix93

Functions
static double	combine3 (const double &x, const double &y, const double &z, OptionalJacobian< 1, 1 > H1, OptionalJacobian< 1, 1 > H2, OptionalJacobian< 1, 1 > H3)
Rot3	composeThree (const Rot3 &R1, const Rot3 &R2, const Rot3 &R3, OptionalJacobian< 3, 3 > H1, OptionalJacobian< 3, 3 > H2, OptionalJacobian< 3, 3 > H3)
Vector3	test_operator::f (const Point2 &a, const Vector3 &b, OptionalJacobian< 3, 2 > H1, OptionalJacobian< 3, 3 > H2)
Vector9	id9 (const Vector9 &v, OptionalJacobian< 9, 9 > H)
int	main ()
Point2	measured (-17, 30)
static Point2	myUncal (const Cal3_S2 &K, const Point2 &p, OptionalJacobian< 2, 5 > Dcal, OptionalJacobian< 2, 2 > Dp)
	TEST (ExpressionFactor, Leaf)
	TEST (ExpressionFactor, Model)
	TEST (ExpressionFactor, Constrained)
	TEST (ExpressionFactor, Unary)
	TEST (ExpressionFactor, Wide)
	TEST (ExpressionFactor, Binary)
	TEST (ExpressionFactor, Shallow)
	TEST (ExpressionFactor, tree)
	TEST (ExpressionFactor, Compose1)
	TEST (ExpressionFactor, compose2)
	TEST (ExpressionFactor, compose3)
	TEST (ExpressionFactor, composeTernary)
	TEST (ExpressionFactor, tree_finite_differences)
	TEST (ExpressionFactor, push_back)
	TEST (Expression, testMultipleCompositions)
	TEST (Expression, testMultipleCompositions2)
	TEST (ExpressionFactor, MultiplyWithInverse)
	TEST (ExpressionFactor, MultiplyWithInverseFunction)
	TEST (ExpressionFactor, variadicTemplate)
Vector9	wide (const Point3 &p, OptionalJacobian< 9, 3 > H)

Variables
SharedNoiseModel	model = noiseModel::Unit::Create(2)
Point2_	leaf::p (2)
Point2(*	Project )(const Point3 &, OptionalJacobian< 2, 3 >) = &PinholeBase::Project
leaf::MyValues	leaf::values

Detailed Description

unit tests for Block Automatic Differentiation

Date

September 18, 2014

Author

Frank Dellaert

Paul Furgale

Definition in file testExpressionFactor.cpp.

Typedef Documentation

typedef Eigen::Matrix<double,9,9> Matrix9

Definition at line 146 of file testExpressionFactor.cpp.

typedef Eigen::Matrix<double,9,3> Matrix93

Definition at line 139 of file testExpressionFactor.cpp.

Function Documentation

static double combine3 ( const double &  x, const double &  y, const double &  z, OptionalJacobian< 1, 1 >  H1, OptionalJacobian< 1, 1 >  H2, OptionalJacobian< 1, 1 >  H3  )

static

Definition at line 534 of file testExpressionFactor.cpp.

Rot3 composeThree	(	const Rot3 &	R1,
		const Rot3 &	R2,
		const Rot3 &	R3,
		OptionalJacobian< 3, 3 >	H1,
		OptionalJacobian< 3, 3 >	H2,
		OptionalJacobian< 3, 3 >	H3
	)

Definition at line 407 of file testExpressionFactor.cpp.

Vector9 id9	(	const Vector9 &	v,
		OptionalJacobian< 9, 9 >	H
	)

Definition at line 147 of file testExpressionFactor.cpp.

int main

(

void

)

Definition at line 731 of file testExpressionFactor.cpp.

Point2 measured	(	-	17,
		30
	)

static Point2 myUncal ( const Cal3_S2 &  K, const Point2 &  p, OptionalJacobian< 2, 5 >  Dcal, OptionalJacobian< 2, 2 >  Dp  )

static

Definition at line 170 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		Leaf
	)

Definition at line 59 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		Model
	)

Definition at line 75 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		Constrained
	)

Definition at line 96 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		Unary
	)

Definition at line 114 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		Wide
	)

Definition at line 151 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		Binary
	)

Definition at line 176 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		Shallow
	)

Definition at line 213 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		tree
	)

Definition at line 272 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		Compose1
	)

Definition at line 319 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		compose2
	)

Definition at line 349 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		compose3
	)

Definition at line 378 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		composeTernary
	)

Definition at line 419 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		tree_finite_differences
	)

Definition at line 450 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		push_back
	)

Definition at line 473 of file testExpressionFactor.cpp.

TEST	(	Expression	,
		testMultipleCompositions
	)

Definition at line 491 of file testExpressionFactor.cpp.

TEST	(	Expression	,
		testMultipleCompositions2
	)

Definition at line 543 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		MultiplyWithInverse
	)

Definition at line 575 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		MultiplyWithInverseFunction
	)

Definition at line 608 of file testExpressionFactor.cpp.

TEST	(	ExpressionFactor	,
		variadicTemplate
	)

Definition at line 706 of file testExpressionFactor.cpp.

Vector9 wide	(	const Point3 &	p,
		OptionalJacobian< 9, 3 >	H
	)

Definition at line 140 of file testExpressionFactor.cpp.

Variable Documentation

SharedNoiseModel model = noiseModel::Unit::Create(2)

Definition at line 39 of file testExpressionFactor.cpp.

Point2(* Project) (const Point3 &, OptionalJacobian< 2, 3 >) = &PinholeBase::Project

Definition at line 43 of file testExpressionFactor.cpp.