testIMUSystem.cpp File Reference

#include <iostream>
#include <CppUnitLite/TestHarness.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/sam/RangeFactor.h>
#include <gtsam_unstable/slam/PartialPriorFactor.h>
#include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam_unstable/dynamics/IMUFactor.h>
#include <gtsam_unstable/dynamics/FullIMUFactor.h>
#include <gtsam_unstable/dynamics/VelocityConstraint.h>
#include <gtsam_unstable/dynamics/DynamicsPriors.h>

Include dependency graph for testIMUSystem.cpp:

Go to the source code of this file.

Functions
int	main ()
	TEST (testIMUSystem, instantiations)
	TEST (testIMUSystem, linear_trajectory)
	TEST (testIMUSystem, optimize_chain)
	TEST (testIMUSystem, optimize_chain_fullfactor)

Variables
static const Vector	g = Vector::Unit(3,2)*(-9.81)
const double	tol =1e-5
static const Key	x0 = 0
static const Key	x1 = 1
static const Key	x2 = 2
static const Key	x3 = 3
static const Key	x4 = 4

Function Documentation

main()

int main

(

)

Definition at line 176 of file testIMUSystem.cpp.

TEST() [1/4]

TEST	(	testIMUSystem	,
		instantiations
	)

Definition at line 32 of file testIMUSystem.cpp.

TEST() [2/4]

TEST	(	testIMUSystem	,
		linear_trajectory
	)

Definition at line 146 of file testIMUSystem.cpp.

TEST() [3/4]

TEST	(	testIMUSystem	,
		optimize_chain
	)

Definition at line 55 of file testIMUSystem.cpp.

TEST() [4/4]

TEST	(	testIMUSystem	,
		optimize_chain_fullfactor
	)

Definition at line 101 of file testIMUSystem.cpp.

Variable Documentation

g

const Vector g = Vector::Unit(3,2)*(-9.81)

static

Definition at line 29 of file testIMUSystem.cpp.

tol

const double tol =1e-5

Definition at line 26 of file testIMUSystem.cpp.

x0

const Key x0 = 0

static

Definition at line 28 of file testIMUSystem.cpp.

x1

const Key x1 = 1

static

Definition at line 28 of file testIMUSystem.cpp.

x2

const Key x2 = 2

static

Definition at line 28 of file testIMUSystem.cpp.

x3

const Key x3 = 3

static

Definition at line 28 of file testIMUSystem.cpp.

x4

const Key x4 = 4

static

Definition at line 28 of file testIMUSystem.cpp.