Unit tests for NavState. More...

#include <gtsam/navigation/NavState.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testNavState.cpp:

Go to the source code of this file.

Functions
static const Vector3	kGravity (0, 0, 9.81)

static const Vector3	kOmegaCoriolis (0.02, 0.03, 0.04)

static const Point3	kPosition (1.0, 2.0, 3.0)

static const Velocity3	kVelocity (0.4, 0.5, 0.6)

int	main ()

	TEST (NavState, Constructor)

	TEST (NavState, Constructor2)

	TEST (NavState, Attitude)

	TEST (NavState, Position)

	TEST (NavState, Velocity)

	TEST (NavState, BodyVelocity)

	TEST (NavState, Manifold)

	TEST (NavState, Coriolis)

	TEST (NavState, Coriolis2)

	TEST (NavState, Coriolis3)

	TEST (NavState, CorrectPIM)

	TEST (NavState, Stream)

Variables
boost::function< Vector9(const NavState &, const bool &)>	coriolis

static const double	dt = 2.0

static const Rot3	kAttitude = Rot3::RzRyRx(0.1, 0.2, 0.3)

static const NavState	kIdentity

static const Pose3	kPose (kAttitude, kPosition)

static const NavState	kState1 (kAttitude, kPosition, kVelocity)

static const Vector9	kZeroXi = Vector9::Zero()

Detailed Description

Unit tests for NavState.

Author: Frank Dellaert

Date: July 2015

Definition in file testNavState.cpp.

Function Documentation

static const Vector3 kGravity	(	0	,
		0	,
		9.	81
	)

static

static const Vector3 kOmegaCoriolis	(	0.	02,
		0.	03,
		0.	04
	)

static

static const Point3 kPosition	(	1.	0,
		2.	0,
		3.	0
	)

static

static const Velocity3 kVelocity	(	0.	4,
		0.	5,
		0.	6
	)

static

int main ( void )

Definition at line 268 of file testNavState.cpp.

TEST	(	NavState	,
		Constructor
	)

Definition at line 38 of file testNavState.cpp.

TEST	(	NavState	,
		Constructor2
	)

Definition at line 58 of file testNavState.cpp.

TEST	(	NavState	,
		Attitude
	)

Definition at line 71 of file testNavState.cpp.

TEST	(	NavState	,
		Position
	)

Definition at line 81 of file testNavState.cpp.

TEST	(	NavState	,
		Velocity
	)

Definition at line 91 of file testNavState.cpp.

TEST	(	NavState	,
		BodyVelocity
	)

Definition at line 101 of file testNavState.cpp.

TEST	(	NavState	,
		Manifold
	)

Definition at line 111 of file testNavState.cpp.

TEST	(	NavState	,
		Coriolis
	)

Definition at line 171 of file testNavState.cpp.

TEST	(	NavState	,
		Coriolis2
	)

Definition at line 182 of file testNavState.cpp.

TEST	(	NavState	,
		Coriolis3
	)

Consider a massless planet with an attached nav frame at n_omega = [0 0 1]', and a body at position n_t = [1 0 0]', travelling with velocity n_v = [0 1 0]'. Orient the body so that it is not instantaneously aligned with the nav frame (i.e., nRb != I_3x3). Test that first and second order Coriolis corrections are as expected.

Definition at line 195 of file testNavState.cpp.