testTOAFactor.cpp File Reference

Unit tests for "Time of Arrival" factor. More...

#include <gtsam/base/numericalDerivative.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam_unstable/geometry/Event.h>
#include <gtsam_unstable/slam/TOAFactor.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testTOAFactor.cpp:

Go to the source code of this file.

Typedefs
typedef Expression< Event >	Event_
typedef Expression< Point3 >	Point3_

Functions
int	main ()
static SharedNoiseModel	model (noiseModel::Isotropic::Sigma(1, 0.5 *ms))
static const Point3	sensorAt0 (0, 0, 0)
	TEST (TOAFactor, NewWay)
	TEST (TOAFactor, WholeEnchilada)

Variables
static const double	cm = 1e-2
static const Event	exampleEvent (timeOfEvent, 1, 0, 0)
static const double	ms = 1e-3
static const double	timeOfEvent = 25

Detailed Description

Unit tests for "Time of Arrival" factor.

Author

Frank Dellaert

Jay Chakravarty

Date

December 2014

Definition in file testTOAFactor.cpp.

Typedef Documentation

Event_

typedef Expression<Event> Event_

Definition at line 34 of file testTOAFactor.cpp.

Point3_

typedef Expression<Point3> Point3_

Definition at line 33 of file testTOAFactor.cpp.

Function Documentation

main()

int main

(

)

Definition at line 102 of file testTOAFactor.cpp.

model()

static SharedNoiseModel model ( noiseModel::Isotropic::Sigma(1, 0.5 *ms)  )

static

sensorAt0()

static const Point3 sensorAt0 ( 0  , 0  , 0    )

static

TEST() [1/2]

TEST	(	TOAFactor	,
		NewWay
	)

Definition at line 48 of file testTOAFactor.cpp.

TEST() [2/2]

TEST	(	TOAFactor	,
		WholeEnchilada
	)

Definition at line 55 of file testTOAFactor.cpp.

Variable Documentation

cm

const double cm = 1e-2

static

Definition at line 38 of file testTOAFactor.cpp.

exampleEvent

const Event exampleEvent(timeOfEvent, 1, 0, 0)

static

ms

const double ms = 1e-3

static

Definition at line 37 of file testTOAFactor.cpp.

timeOfEvent

const double timeOfEvent = 25

static

Definition at line 43 of file testTOAFactor.cpp.