Unit test for MagFactor. More...
#include <gtsam/navigation/MagFactor.h>#include <gtsam/base/Testable.h>#include <gtsam/base/numericalDerivative.h>#include <CppUnitLite/TestHarness.h>#include <GeographicLib/LocalCartesian.hpp>
Include dependency graph for testMagFactor.cpp:
Go to the source code of this file.
Functions | |
| Point3 | bias (10,-10, 50) |
| int | main () |
| Point3 | nM (22653.29982,-1956.83010, 44202.47862) |
| double | s (scale *nM.norm()) |
| TEST (MagFactor, unrotate) | |
| TEST (MagFactor, Factors) | |
Variables | |
| Unit3 | dir (nM) |
| Point3 | measured = nRb.inverse() * (scale * nM) + bias |
| SharedNoiseModel | model = noiseModel::Isotropic::Sigma(3, 0.25) |
| Rot3 | nRb = Rot3::Yaw(-0.1) |
| double | scale = 255.0 / 50000.0 |
| Point3 | scaled = scale * nM |
| Rot2 | theta = nRb.yaw() |
Detailed Description
Function Documentation
| Point3 bias | ( | 10 | , |
| - | 10, | ||
| 50 | |||
| ) |
| int main | ( | void | ) |
Definition at line 109 of file testMagFactor.cpp.
| Point3 nM | ( | 22653. | 29982, |
| -1956. | 83010, | ||
| 44202. | 47862 | ||
| ) |
| double s | ( | scale *nM. | norm() | ) |
| TEST | ( | MagFactor | , |
| unrotate | |||
| ) |
Definition at line 59 of file testMagFactor.cpp.
| TEST | ( | MagFactor | , |
| Factors | |||
| ) |
Definition at line 68 of file testMagFactor.cpp.
Variable Documentation
| Point3 measured = nRb.inverse() * (scale * nM) + bias |
Definition at line 49 of file testMagFactor.cpp.
| SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 0.25) |
Definition at line 54 of file testMagFactor.cpp.
| Rot3 nRb = Rot3::Yaw(-0.1) |
Definition at line 43 of file testMagFactor.cpp.
| double scale = 255.0 / 50000.0 |
Definition at line 41 of file testMagFactor.cpp.
Definition at line 48 of file testMagFactor.cpp.
| Rot2 theta = nRb.yaw() |
Definition at line 44 of file testMagFactor.cpp.