testExpression.cpp File Reference

unit tests for Block Automatic Differentiation More...

#include <gtsam/nonlinear/expressions.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign/list_of.hpp>

Include dependency graph for testExpression.cpp:

Go to the source code of this file.

Classes
class	Class
struct	gtsam::traits< Class >

Namespaces
	binary
	gtsam
	traits
	tree
	unary

Typedefs
typedef Expression< Point3 >	Point3_
typedef Expression< Pose3 >	Pose3_
typedef Expression< Rot3 >	Rot3_

Functions
Rot3	composeThree (const Rot3 &R1, const Rot3 &R2, const Rot3 &R3, OptionalJacobian< 3, 3 > H1, OptionalJacobian< 3, 3 > H2, OptionalJacobian< 3, 3 > H3)
double	binary::doubleF (const Pose3 &pose, const Point3 &point, OptionalJacobian< 1, 6 > H1, OptionalJacobian< 1, 3 > H2)
Point2	unary::f1 (const Point3 &p, OptionalJacobian< 2, 3 > H)
double	unary::f2 (const Point3 &p, OptionalJacobian< 1, 3 > H)
Vector	unary::f3 (const Point3 &p, OptionalJacobian< Eigen::Dynamic, 3 > H)
int	main ()
	TEST (Expression, Constant)
	TEST (Expression, Leaf)
	TEST (Expression, Leaves)
	TEST (Expression, Unary1)
	TEST (Expression, Unary2)
	TEST (Expression, Unary3)
	TEST (Expression, NullaryMethod)
	TEST (Expression, BinaryToDouble)
	TEST (Expression, BinaryKeys)
	TEST (Expression, BinaryDimensions)
	TEST (Expression, BinaryTraceSize)
	TEST (Expression, TreeKeys)
	TEST (Expression, TreeDimensions)
	TEST (Expression, TreeTraceSize)
	TEST (Expression, compose1)
	TEST (Expression, compose2)
	TEST (Expression, compose3)
	TEST (Expression, ternary)
	TEST (Expression, ScalarMultiply)
	TEST (Expression, BinarySum)
	TEST (Expression, TripleSum)
	TEST (Expression, PlusEqual)
	TEST (Expression, SumOfUnaries)
	TEST (Expression, UnaryOfSum)
	TEST (Expression, WeightedSum)
	TEST (Expression, Subtract)
	TEST (Expression, LinearExpression)
template<class CAL >
Point2	uncalibrate (const CAL &K, const Point2 &p, OptionalJacobian< 2, 5 > Dcal, OptionalJacobian< 2, 2 > Dp)

Variables
set< Key >	unary::expected = list_of(1)
Point2(*	tree::f )(const Point3 &, OptionalJacobian< 2, 3 >) = &PinholeBase::Project
Expression< Cal3_S2 >	tree::K (3)
Point3_	unary::p (1)
Point3_	binary::p (2)
Point3_	binary::p_cam (x,&Pose3::transformTo, p)
Expression< Point2 >	tree::projection (f, p_cam)
static const Rot3	someR = Rot3::RzRyRx(1, 2, 3)
Expression< Point2 >	tree::uv_hat (uncalibrate< Cal3_S2 >, K, projection)
Pose3_	binary::x (1)

Detailed Description

unit tests for Block Automatic Differentiation

Date

September 18, 2014

Author

Frank Dellaert

Paul Furgale

Definition in file testExpression.cpp.

Typedef Documentation

typedef Expression<Point3> Point3_

Definition at line 35 of file testExpression.cpp.

typedef Expression<Pose3> Pose3_

Definition at line 36 of file testExpression.cpp.

typedef Expression<Rot3> Rot3_

Definition at line 37 of file testExpression.cpp.

Function Documentation

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 286 of file testExpression.cpp.

int main

(

void

)

Definition at line 516 of file testExpression.cpp.

TEST	(	Expression	,
		Constant
	)

Definition at line 50 of file testExpression.cpp.

TEST	(	Expression	,
		Leaf
	)

Definition at line 60 of file testExpression.cpp.

TEST	(	Expression	,
		Leaves
	)

Definition at line 71 of file testExpression.cpp.

TEST	(	Expression	,
		Unary1
	)

Definition at line 95 of file testExpression.cpp.

TEST	(	Expression	,
		Unary2
	)

Definition at line 100 of file testExpression.cpp.

TEST	(	Expression	,
		Unary3
	)

Definition at line 108 of file testExpression.cpp.

TEST	(	Expression	,
		NullaryMethod
	)

Definition at line 134 of file testExpression.cpp.

TEST	(	Expression	,
		BinaryToDouble
	)

Definition at line 174 of file testExpression.cpp.

TEST	(	Expression	,
		BinaryKeys
	)

Definition at line 181 of file testExpression.cpp.

TEST	(	Expression	,
		BinaryDimensions
	)

Definition at line 188 of file testExpression.cpp.

TEST	(	Expression	,
		BinaryTraceSize
	)

Definition at line 196 of file testExpression.cpp.

TEST	(	Expression	,
		TreeKeys
	)

Definition at line 218 of file testExpression.cpp.

TEST	(	Expression	,
		TreeDimensions
	)

Definition at line 225 of file testExpression.cpp.

TEST	(	Expression	,
		TreeTraceSize
	)

Definition at line 233 of file testExpression.cpp.

TEST	(	Expression	,
		compose1
	)

Definition at line 250 of file testExpression.cpp.

TEST	(	Expression	,
		compose2
	)

Definition at line 262 of file testExpression.cpp.

TEST	(	Expression	,
		compose3
	)

Definition at line 274 of file testExpression.cpp.

TEST	(	Expression	,
		ternary
	)

Definition at line 298 of file testExpression.cpp.

TEST	(	Expression	,
		ScalarMultiply
	)

Definition at line 309 of file testExpression.cpp.

TEST	(	Expression	,
		BinarySum
	)

Definition at line 339 of file testExpression.cpp.

TEST	(	Expression	,
		TripleSum
	)

Definition at line 369 of file testExpression.cpp.

TEST	(	Expression	,
		PlusEqual
	)

Definition at line 390 of file testExpression.cpp.

TEST	(	Expression	,
		SumOfUnaries
	)

Definition at line 413 of file testExpression.cpp.

TEST	(	Expression	,
		UnaryOfSum
	)

Definition at line 431 of file testExpression.cpp.

TEST	(	Expression	,
		WeightedSum
	)

Definition at line 455 of file testExpression.cpp.

TEST	(	Expression	,
		Subtract
	)

Definition at line 479 of file testExpression.cpp.

TEST	(	Expression	,
		LinearExpression
	)

Definition at line 496 of file testExpression.cpp.

template<class CAL >

Point2 uncalibrate	(	const CAL &	K,
		const Point2 &	p,
		OptionalJacobian< 2, 5 >	Dcal,
		OptionalJacobian< 2, 2 >	Dp
	)

Definition at line 41 of file testExpression.cpp.

Variable Documentation

const Rot3 someR = Rot3::RzRyRx(1, 2, 3)

static

Definition at line 46 of file testExpression.cpp.