testNoiseModel.cpp File Reference

#include <gtsam/linear/NoiseModel.h>
#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign/std/vector.hpp>
#include <iostream>
#include <limits>

Include dependency graph for testNoiseModel.cpp:

Go to the source code of this file.

Namespaces
	exampleQR

Macros
#define	TEST_GAUSSIAN(gaussian)

Functions
static const Vector3	kSigmas (kSigma, kSigma, kSigma)
int	main ()
	TEST (NoiseModel, constructors)
	TEST (NoiseModel, Unit)
	TEST (NoiseModel, equals)
	TEST (NoiseModel, ConstrainedConstructors)
	TEST (NoiseModel, ConstrainedMixed)
	TEST (NoiseModel, ConstrainedAll)
	TEST (NoiseModel, QR)
	TEST (NoiseModel, OverdeterminedQR)
	TEST (NoiseModel, MixedQR)
	TEST (NoiseModel, MixedQR2)
	TEST (NoiseModel, FullyConstrained)
	TEST (NoiseModel, QRNan)
	TEST (NoiseModel, SmartSqrtInformation)
	TEST (NoiseModel, SmartSqrtInformation2)
	TEST (NoiseModel, SmartInformation)
	TEST (NoiseModel, SmartCovariance)
	TEST (NoiseModel, ScalarOrVector)
	TEST (NoiseModel, WhitenInPlace)
	TEST (NoiseModel, robustFunctionFair)
	TEST (NoiseModel, robustFunctionHuber)
	TEST (NoiseModel, robustFunctionCauchy)
	TEST (NoiseModel, robustFunctionGemanMcClure)
	TEST (NoiseModel, robustFunctionWelsch)
	TEST (NoiseModel, robustFunctionTukey)
	TEST (NoiseModel, robustFunctionDCS)
	TEST (NoiseModel, robustFunctionL2WithDeadZone)
	TEST (NoiseModel, robustNoiseHuber)
	TEST (NoiseModel, robustNoiseGemanMcClure)
	TEST (NoiseModel, robustNoiseDCS)
	TEST (NoiseModel, robustNoiseL2WithDeadZone)
	TEST (NoiseModel, lossFunctionAtZero)
	TEST (NoiseModel, NonDiagonalGaussian)

Variables
Matrix	exampleQR::Ab
SharedDiagonal	exampleQR::diagonal = noiseModel::Diagonal::Sigmas(sigmas)
static const Matrix	kCovariance = Matrix3::Identity() * kVariance
static const double	kInverseSigma = 1.0 / kSigma
static const double	kSigma = 2
static const double	kVariance = kSigma * kSigma
static const double	prc = 1.0 / kVariance
static const Matrix	R = Matrix3::Identity() * kInverseSigma
Matrix	exampleQR::Rd
Vector	exampleQR::sigmas = (Vector(4) << 0.2, 0.2, 0.1, 0.1).finished()

Detailed Description

Date

Jan 13, 2010

Author

Richard Roberts

Frank Dellaert

Definition in file testNoiseModel.cpp.

Macro Definition Documentation

#define TEST_GAUSSIAN

(

gaussian

)

Value:

EQUALITY(info, gaussian->information());\
  EQUALITY(cov, gaussian->covariance());\
  EXPECT(assert_equal(white, gaussian->whiten(e)));\
  EXPECT(assert_equal(e, gaussian->unwhiten(white)));\
  EXPECT_DOUBLES_EQUAL(251.0, gaussian->squaredMahalanobisDistance(e), 1e-9);\
  EXPECT_DOUBLES_EQUAL(0.5 * 251.0, gaussian->loss(251.0), 1e-9);\
  Matrix A = R.inverse(); Vector b = e;\
  gaussian->WhitenSystem(A, b);\
  EXPECT(assert_equal(I, A));\
  EXPECT(assert_equal(white, b));

Definition at line 717 of file testNoiseModel.cpp.

Function Documentation

static const Vector3 kSigmas ( kSigma  , kSigma  , kSigma    )

static

int main

(

void

)

Definition at line 756 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		constructors
	)

Definition at line 42 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		Unit
	)

Definition at line 103 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		equals
	)

Definition at line 111 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		ConstrainedConstructors
	)

• ************************************************************************* */

Definition at line 148 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		ConstrainedMixed
	)

Definition at line 176 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		ConstrainedAll
	)

Definition at line 191 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		QR
	)

Definition at line 227 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		OverdeterminedQR
	)

Definition at line 254 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		MixedQR
	)

Definition at line 286 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		MixedQR2
	)

Definition at line 319 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		FullyConstrained
	)

Definition at line 358 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		QRNan
	)

Definition at line 381 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		SmartSqrtInformation
	)

Definition at line 395 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		SmartSqrtInformation2
	)

Definition at line 404 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		SmartInformation
	)

Definition at line 413 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		SmartCovariance
	)

Definition at line 424 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		ScalarOrVector
	)

Definition at line 433 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		WhitenInPlace
	)

Definition at line 442 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustFunctionFair
	)

Definition at line 462 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustFunctionHuber
	)

Definition at line 478 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustFunctionCauchy
	)

Definition at line 494 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustFunctionGemanMcClure
	)

Definition at line 510 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustFunctionWelsch
	)

Definition at line 525 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustFunctionTukey
	)

Definition at line 541 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustFunctionDCS
	)

Definition at line 557 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustFunctionL2WithDeadZone
	)

Definition at line 569 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustNoiseHuber
	)

Definition at line 590 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustNoiseGemanMcClure
	)

Definition at line 610 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustNoiseDCS
	)

Definition at line 638 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		robustNoiseL2WithDeadZone
	)

Definition at line 661 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		lossFunctionAtZero
	)

Definition at line 686 of file testNoiseModel.cpp.

TEST	(	NoiseModel	,
		NonDiagonalGaussian
	)

Definition at line 729 of file testNoiseModel.cpp.

Variable Documentation

const Matrix kCovariance = Matrix3::Identity() * kVariance

static

Definition at line 38 of file testNoiseModel.cpp.

const double kInverseSigma = 1.0 / kSigma

static

Definition at line 35 of file testNoiseModel.cpp.

const double kSigma = 2

static

Definition at line 35 of file testNoiseModel.cpp.

const double kVariance = kSigma * kSigma

static

Definition at line 36 of file testNoiseModel.cpp.

const double prc = 1.0 / kVariance

static

Definition at line 36 of file testNoiseModel.cpp.

const Matrix R = Matrix3::Identity() * kInverseSigma

static

Definition at line 37 of file testNoiseModel.cpp.