Unit tests for SO4, as a GTSAM-adapted Lie Group. More...
#include <gtsam/base/Manifold.h>#include <gtsam/base/Testable.h>#include <gtsam/base/lieProxies.h>#include <gtsam/base/numericalDerivative.h>#include <gtsam/geometry/SO4.h>#include <gtsam/geometry/SO3.h>#include <CppUnitLite/TestHarness.h>#include <iostream>#include <random>
Go to the source code of this file.
Functions | |
| int | main () |
| TEST (SO4, Identity) | |
| TEST (SO4, Concept) | |
| TEST (SO4, Random) | |
| TEST (SO4, Expmap) | |
| TEST (SO4, Hat) | |
| TEST (SO4, Vee) | |
| TEST (SO4, Retract) | |
| TEST (SO4, Local) | |
| TEST (SO4, Invariants) | |
| TEST (SO4, compose) | |
| TEST (SO4, vec) | |
| TEST (SO4, topLeft) | |
| TEST (SO4, stiefel) | |
Variables | |
| SO4 | id |
| SO4 | Q1 = SO4::Expmap(v1) |
| SO4 | Q2 = SO4::Expmap(v2) |
| SO4 | Q3 = SO4::Expmap(v3) |
| Vector6 | v1 = (Vector(6) << 0, 0, 0, 0.1, 0, 0).finished() |
| Vector6 | v2 = (Vector(6) << 0.00, 0.00, 0.00, 0.01, 0.02, 0.03).finished() |
| Vector6 | v3 = (Vector(6) << 1, 2, 3, 4, 5, 6).finished() |
Detailed Description
Unit tests for SO4, as a GTSAM-adapted Lie Group.
Definition in file testSO4.cpp.
Function Documentation
| int main | ( | void | ) |
Definition at line 203 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| Identity | |||
| ) |
Definition at line 34 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| Concept | |||
| ) |
Definition at line 44 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| Random | |||
| ) |
Definition at line 60 of file testSO4.cpp.
Definition at line 66 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| Hat | |||
| ) |
Definition at line 87 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| Vee | |||
| ) |
Definition at line 95 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| Retract | |||
| ) |
Definition at line 104 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| Local | |||
| ) |
Definition at line 119 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| Invariants | |||
| ) |
Definition at line 132 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| compose | |||
| ) |
Definition at line 147 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| vec | |||
| ) |
Definition at line 163 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| topLeft | |||
| ) |
Definition at line 177 of file testSO4.cpp.
| TEST | ( | SO4 | , |
| stiefel | |||
| ) |
Definition at line 190 of file testSO4.cpp.
Variable Documentation
| SO4 id |
Definition at line 51 of file testSO4.cpp.
| SO4 Q1 = SO4::Expmap(v1) |
Definition at line 53 of file testSO4.cpp.
| SO4 Q2 = SO4::Expmap(v2) |
Definition at line 55 of file testSO4.cpp.
| SO4 Q3 = SO4::Expmap(v3) |
Definition at line 57 of file testSO4.cpp.
| Vector6 v1 = (Vector(6) << 0, 0, 0, 0.1, 0, 0).finished() |
Definition at line 52 of file testSO4.cpp.
| Vector6 v2 = (Vector(6) << 0.00, 0.00, 0.00, 0.01, 0.02, 0.03).finished() |
Definition at line 54 of file testSO4.cpp.
| Vector6 v3 = (Vector(6) << 1, 2, 3, 4, 5, 6).finished() |
Definition at line 56 of file testSO4.cpp.