testRangeFactor.cpp File Reference

Unit tests for RangeFactor Class. More...

#include <gtsam/sam/RangeFactor.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/serializationTestHelpers.h>
#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/bind.hpp>

Include dependency graph for testRangeFactor.cpp:

Go to the source code of this file.

Classes
struct	gtsam::Range< Vector4, Vector4 >

Namespaces
	gtsam
	traits

Typedefs
typedef RangeFactor< Pose2, Point2 >	RangeFactor2D
typedef RangeFactor< Pose3, Point3 >	RangeFactor3D
typedef RangeFactorWithTransform< Pose2, Point2 >	RangeFactorWithTransform2D
typedef RangeFactorWithTransform< Pose3, Point3 >	RangeFactorWithTransform3D

Functions
	BOOST_CLASS_EXPORT (gtsam::noiseModel::Unit)
Vector	factorError2D (const Pose2 &pose, const Point2 &point, const RangeFactor2D &factor)
Vector	factorError3D (const Pose3 &pose, const Point3 &point, const RangeFactor3D &factor)
Vector	factorErrorWithTransform2D (const Pose2 &pose, const Point2 &point, const RangeFactorWithTransform2D &factor)
Vector	factorErrorWithTransform3D (const Pose3 &pose, const Point3 &point, const RangeFactorWithTransform3D &factor)
int	main ()
double	measurement (10.0)
static SharedNoiseModel	model (noiseModel::Unit::Create(1))
Key	pointKey (1)
Key	poseKey (2)
	TEST (RangeFactor, Constructor)
	TEST (RangeFactor, Serialization2D)
	TEST (RangeFactor, Serialization3D)
	TEST (RangeFactor, ConstructorWithTransform)
	TEST (RangeFactor, Equals)
	TEST (RangeFactor, EqualsWithTransform)
	TEST (RangeFactor, EqualsAfterDeserializing)
	TEST (RangeFactor, Error2D)
	TEST (RangeFactor, Error2DWithTransform)
	TEST (RangeFactor, Error3D)
	TEST (RangeFactor, Error3DWithTransform)
	TEST (RangeFactor, Jacobian2D)
	TEST (RangeFactor, Jacobian2DWithTransform)
	TEST (RangeFactor, Jacobian3D)
	TEST (RangeFactor, Jacobian3DWithTransform)
	TEST (RangeFactor, Point3)
	TEST (RangeFactor, Camera)
	TEST (RangeFactor, NonGTSAM)

Detailed Description

Unit tests for RangeFactor Class.

Author

Stephen Williams

Date

Oct 2012

Definition in file testRangeFactor.cpp.

Typedef Documentation

typedef RangeFactor<Pose2, Point2> RangeFactor2D

Definition at line 37 of file testRangeFactor.cpp.

typedef RangeFactor<Pose3, Point3> RangeFactor3D

Definition at line 38 of file testRangeFactor.cpp.

typedef RangeFactorWithTransform<Pose2, Point2> RangeFactorWithTransform2D

Definition at line 39 of file testRangeFactor.cpp.

typedef RangeFactorWithTransform<Pose3, Point3> RangeFactorWithTransform3D

Definition at line 40 of file testRangeFactor.cpp.

Function Documentation

BOOST_CLASS_EXPORT

(

gtsam::noiseModel::Unit

)

Vector factorError2D	(	const Pose2 &	pose,
		const Point2 &	point,
		const RangeFactor2D &	factor
	)

Definition at line 48 of file testRangeFactor.cpp.

Vector factorError3D	(	const Pose3 &	pose,
		const Point3 &	point,
		const RangeFactor3D &	factor
	)

Definition at line 54 of file testRangeFactor.cpp.

Vector factorErrorWithTransform2D	(	const Pose2 &	pose,
		const Point2 &	point,
		const RangeFactorWithTransform2D &	factor
	)

Definition at line 60 of file testRangeFactor.cpp.

Vector factorErrorWithTransform3D	(	const Pose3 &	pose,
		const Point3 &	point,
		const RangeFactorWithTransform3D &	factor
	)

Definition at line 66 of file testRangeFactor.cpp.

int main

(

void

)

Definition at line 427 of file testRangeFactor.cpp.

double measurement

(

10.

0

)

static SharedNoiseModel model ( noiseModel::Unit::Create(1)  )

static

Key pointKey

(

1

)

Key poseKey

(

2

)

TEST	(	RangeFactor	,
		Constructor
	)

Definition at line 72 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Serialization2D
	)

Definition at line 83 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Serialization3D
	)

Definition at line 91 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		ConstructorWithTransform
	)

Definition at line 99 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Equals
	)

Definition at line 114 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		EqualsWithTransform
	)

Definition at line 126 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		EqualsAfterDeserializing
	)

Definition at line 145 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Error2D
	)

Definition at line 167 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Error2DWithTransform
	)

Definition at line 186 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Error3D
	)

Definition at line 209 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Error3DWithTransform
	)

Definition at line 228 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Jacobian2D
	)

Definition at line 252 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Jacobian2DWithTransform
	)

Definition at line 277 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Jacobian3D
	)

Definition at line 308 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Jacobian3DWithTransform
	)

Definition at line 335 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Point3
	)

Definition at line 368 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		Camera
	)

Definition at line 385 of file testRangeFactor.cpp.

TEST	(	RangeFactor	,
		NonGTSAM
	)

Definition at line 408 of file testRangeFactor.cpp.