testLago.cpp File Reference

Unit tests for planar SLAM example using the initialization technique LAGO (Linear Approximation for Graph Optimization) More...

#include <gtsam/slam/lago.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/inference/Symbol.h>
#include <CppUnitLite/TestHarness.h>
#include <cmath>

Include dependency graph for testLago.cpp:

Go to the source code of this file.

Namespaces
	simpleLago

Functions
NonlinearFactorGraph	simpleLago::graph ()
int	main ()
static SharedNoiseModel	model (noiseModel::Isotropic::Sigma(3, 0.1))
	TEST (Lago, checkSTandChords)
	TEST (Lago, orientationsOverSpanningTree)
	TEST (Lago, regularizedMeasurements)
	TEST (Lago, smallGraphVectorValues)
	TEST (Lago, smallGraphVectorValuesSP)
	TEST (Lago, multiplePosePriors)
	TEST (Lago, multiplePosePriorsSP)
	TEST (Lago, multiplePoseAndRotPriors)
	TEST (Lago, multiplePoseAndRotPriorsSP)
	TEST (Lago, smallGraphValues)
	TEST (Lago, smallGraph2)
	TEST (Lago, largeGraphNoisy_orientations)
	TEST (Lago, largeGraphNoisy)

Variables
static Pose2	simpleLago::pose0 = Pose2(0.000000, 0.000000, 0.000000)
static Pose2	simpleLago::pose1 = Pose2(1.000000, 1.000000, 1.570796)
static Pose2	simpleLago::pose2 = Pose2(0.000000, 2.000000, 3.141593)
static Pose2	simpleLago::pose3 = Pose2(-1.000000, 1.000000, 4.712389)
static Symbol	x0 ('x', 0)
static Symbol	x1 ('x', 1)
static Symbol	x2 ('x', 2)
static Symbol	x3 ('x', 3)

Detailed Description

Unit tests for planar SLAM example using the initialization technique LAGO (Linear Approximation for Graph Optimization)

Author

Luca Carlone

Frank Dellaert

Date

May 14, 2014

Definition in file testLago.cpp.

Function Documentation

int main

(

void

)

Definition at line 321 of file testLago.cpp.

static SharedNoiseModel model ( noiseModel::Isotropic::Sigma(3, 0.1)  )

static

TEST	(	Lago	,
		checkSTandChords
	)

Definition at line 69 of file testLago.cpp.

TEST	(	Lago	,
		orientationsOverSpanningTree
	)

Definition at line 86 of file testLago.cpp.

TEST	(	Lago	,
		regularizedMeasurements
	)

Definition at line 117 of file testLago.cpp.

TEST	(	Lago	,
		smallGraphVectorValues
	)

Definition at line 142 of file testLago.cpp.

TEST	(	Lago	,
		smallGraphVectorValuesSP
	)

Definition at line 154 of file testLago.cpp.

TEST	(	Lago	,
		multiplePosePriors
	)

Definition at line 166 of file testLago.cpp.

TEST	(	Lago	,
		multiplePosePriorsSP
	)

Definition at line 180 of file testLago.cpp.

TEST	(	Lago	,
		multiplePoseAndRotPriors
	)

Definition at line 193 of file testLago.cpp.

TEST	(	Lago	,
		multiplePoseAndRotPriorsSP
	)

Definition at line 207 of file testLago.cpp.

TEST	(	Lago	,
		smallGraphValues
	)

Definition at line 220 of file testLago.cpp.

TEST	(	Lago	,
		smallGraph2
	)

Definition at line 243 of file testLago.cpp.

TEST	(	Lago	,
		largeGraphNoisy_orientations
	)

Definition at line 259 of file testLago.cpp.

TEST	(	Lago	,
		largeGraphNoisy
	)

Definition at line 294 of file testLago.cpp.

Variable Documentation

Symbol x0('x', 0)

static

Symbol x1('x', 1)

Symbol x2('x', 2)

Symbol x3('x', 3)