#include <tests.hpp>

Public Types
using	Adjoint = typename LieGroup::Adjoint

using	ConstPointMap = Eigen::Map< const Point >

using	HomogeneousPoint = typename LieGroup::HomogeneousPoint

using	LieGroup = LieGroup_

using	Line = typename LieGroup::Line

using	Point = typename LieGroup::Point

using	Scalar = typename LieGroup::Scalar

using	Tangent = typename LieGroup::Tangent

using	Transformation = typename LieGroup::Transformation

Public Member Functions
template<class G = LieGroup>
enable_if_t< std::is_same< G, Sophus::SO2< Scalar > >::value\|\|std::is_same< G, Sophus::SO3< Scalar > >::value\|\|std::is_same< G, Sophus::SE2< Scalar > >::value\|\|std::is_same< G, Sophus::SE3< Scalar > >::value, bool >	additionalDerivativeTest ()

template<class G = LieGroup>
enable_if_t<!std::is_same< G, Sophus::SO2< Scalar > >::value &&!std::is_same< G, Sophus::SO3< Scalar > >::value &&!std::is_same< G, Sophus::SE2< Scalar > >::value &&!std::is_same< G, Sophus::SE3< Scalar > >::value, bool >	additionalDerivativeTest ()

bool	adjointTest ()

bool	contructorAndAssignmentTest ()

bool	derivativeTest ()

template<class S = Scalar>
enable_if_t< std::is_floating_point< S >::value, bool >	doAllTestsPass ()

template<class S = Scalar>
enable_if_t<!std::is_floating_point< S >::value, bool >	doAllTestsPass ()

bool	expLogTest ()

bool	expMapTest ()

bool	groupActionTest ()

bool	interpolateAndMeanTest ()

bool	lieBracketTest ()

	LieGroupTests (std::vector< LieGroup, Eigen::aligned_allocator< LieGroup >> const &group_vec, std::vector< Tangent, Eigen::aligned_allocator< Tangent >> const &tangent_vec, std::vector< Point, Eigen::aligned_allocator< Point >> const &point_vec)

bool	lineActionTest ()

bool	newDeleteSmokeTest ()

bool	productTest ()

bool	testRandomSmoke ()

bool	veeHatTest ()

Static Public Attributes
static constexpr int	DoF = LieGroup::DoF

static constexpr int	N = LieGroup::N

static constexpr int	num_parameters = LieGroup::num_parameters

Private Member Functions
bool	doesLargeTestSetPass ()

bool	doesSmallTestSetPass ()

Eigen::Matrix< Scalar, N - 1, 1 >	map (Eigen::Matrix< Scalar, N, N > const &T, Eigen::Matrix< Scalar, N - 1, 1 > const &p)

Eigen::Matrix< Scalar, N, 1 >	map (Eigen::Matrix< Scalar, N, N > const &T, Eigen::Matrix< Scalar, N, 1 > const &p)

Private Attributes
std::vector< LieGroup, Eigen::aligned_allocator< LieGroup > >	group_vec_

const Scalar	kSmallEps = Constants<Scalar>::epsilon()

const Scalar	kSmallEpsSqrt = Constants<Scalar>::epsilonSqrt()

std::vector< Point, Eigen::aligned_allocator< Point > >	point_vec_

std::vector< Tangent, Eigen::aligned_allocator< Tangent > >	tangent_vec_

Detailed Description

template<class LieGroup_>
class Sophus::LieGroupTests< LieGroup_ >

Definition at line 21 of file tests.hpp.

Member Typedef Documentation

◆ Adjoint

template<class LieGroup_ >

using Sophus::LieGroupTests< LieGroup_ >::Adjoint = typename LieGroup::Adjoint

Definition at line 31 of file tests.hpp.

◆ ConstPointMap

template<class LieGroup_ >

using Sophus::LieGroupTests< LieGroup_ >::ConstPointMap = Eigen::Map<const Point>

Definition at line 29 of file tests.hpp.

◆ HomogeneousPoint

template<class LieGroup_ >

using Sophus::LieGroupTests< LieGroup_ >::HomogeneousPoint = typename LieGroup::HomogeneousPoint

Definition at line 28 of file tests.hpp.

◆ LieGroup

template<class LieGroup_ >

using Sophus::LieGroupTests< LieGroup_ >::LieGroup = LieGroup_

Definition at line 23 of file tests.hpp.

◆ Line

template<class LieGroup_ >

using Sophus::LieGroupTests< LieGroup_ >::Line = typename LieGroup::Line

Definition at line 30 of file tests.hpp.

◆ Point

template<class LieGroup_ >

using Sophus::LieGroupTests< LieGroup_ >::Point = typename LieGroup::Point

Definition at line 27 of file tests.hpp.

◆ Scalar

template<class LieGroup_ >

using Sophus::LieGroupTests< LieGroup_ >::Scalar = typename LieGroup::Scalar

Definition at line 24 of file tests.hpp.

◆ Tangent

template<class LieGroup_ >

using Sophus::LieGroupTests< LieGroup_ >::Tangent = typename LieGroup::Tangent

Definition at line 26 of file tests.hpp.

◆ Transformation

template<class LieGroup_ >

using Sophus::LieGroupTests< LieGroup_ >::Transformation = typename LieGroup::Transformation

Definition at line 25 of file tests.hpp.

Constructor & Destructor Documentation

◆ LieGroupTests()

template<class LieGroup_ >

Sophus::LieGroupTests< LieGroup_ >::LieGroupTests	(	std::vector< LieGroup, Eigen::aligned_allocator< LieGroup >> const &	group_vec,
		std::vector< Tangent, Eigen::aligned_allocator< Tangent >> const &	tangent_vec,
		std::vector< Point, Eigen::aligned_allocator< Point >> const &	point_vec
	)

inline

Definition at line 36 of file tests.hpp.

Member Function Documentation

◆ additionalDerivativeTest() [1/2]

template<class LieGroup_ >

template<class G = LieGroup>

enable_if_t<std::is_same<G, Sophus::SO2<Scalar> >::value || std::is_same<G, Sophus::SO3<Scalar> >::value || std::is_same<G, Sophus::SE2<Scalar> >::value || std::is_same<G, Sophus::SE3<Scalar> >::value, bool> Sophus::LieGroupTests< LieGroup_ >::additionalDerivativeTest ( )

inline

Definition at line 140 of file tests.hpp.

◆ additionalDerivativeTest() [2/2]

template<class LieGroup_ >

template<class G = LieGroup>

enable_if_t<!std::is_same<G, Sophus::SO2<Scalar> >::value && !std::is_same<G, Sophus::SO3<Scalar> >::value && !std::is_same<G, Sophus::SE2<Scalar> >::value && !std::is_same<G, Sophus::SE3<Scalar> >::value, bool> Sophus::LieGroupTests< LieGroup_ >::additionalDerivativeTest ( )

inline

Definition at line 191 of file tests.hpp.

◆ adjointTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::adjointTest ( )

inline

Definition at line 46 of file tests.hpp.

◆ contructorAndAssignmentTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::contructorAndAssignmentTest ( )

inline

Definition at line 66 of file tests.hpp.

◆ derivativeTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::derivativeTest ( )

inline

Definition at line 113 of file tests.hpp.

◆ doAllTestsPass() [1/2]

template<class LieGroup_ >

template<class S = Scalar>

enable_if_t<std::is_floating_point<S>::value, bool> Sophus::LieGroupTests< LieGroup_ >::doAllTestsPass ( )

inline

Definition at line 452 of file tests.hpp.

◆ doAllTestsPass() [2/2]

template<class LieGroup_ >

template<class S = Scalar>

enable_if_t<!std::is_floating_point<S>::value, bool> Sophus::LieGroupTests< LieGroup_ >::doAllTestsPass ( )

inline

Definition at line 457 of file tests.hpp.

◆ doesLargeTestSetPass()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::doesLargeTestSetPass ( )

inlineprivate

Definition at line 476 of file tests.hpp.

◆ doesSmallTestSetPass()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::doesSmallTestSetPass ( )

inlineprivate

Definition at line 462 of file tests.hpp.

◆ expLogTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::expLogTest ( )

inline

Definition at line 209 of file tests.hpp.

◆ expMapTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::expMapTest ( )

inline

Definition at line 221 of file tests.hpp.

◆ groupActionTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::groupActionTest ( )

inline

Definition at line 233 of file tests.hpp.

◆ interpolateAndMeanTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::interpolateAndMeanTest ( )

inline

Definition at line 323 of file tests.hpp.

◆ lieBracketTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::lieBracketTest ( )

inline

Definition at line 287 of file tests.hpp.

◆ lineActionTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::lineActionTest ( )

inline

Definition at line 261 of file tests.hpp.

◆ map() [1/2]

template<class LieGroup_ >

Eigen::Matrix<Scalar, N - 1, 1> Sophus::LieGroupTests< LieGroup_ >::map	(	Eigen::Matrix< Scalar, N, N > const &	T,
		Eigen::Matrix< Scalar, N - 1, 1 > const &	p
	)

inlineprivate

Definition at line 490 of file tests.hpp.

◆ map() [2/2]

template<class LieGroup_ >

Eigen::Matrix<Scalar, N, 1> Sophus::LieGroupTests< LieGroup_ >::map	(	Eigen::Matrix< Scalar, N, N > const &	T,
		Eigen::Matrix< Scalar, N, 1 > const &	p
	)

inlineprivate

Definition at line 497 of file tests.hpp.

◆ newDeleteSmokeTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::newDeleteSmokeTest ( )

inline

Definition at line 314 of file tests.hpp.

◆ productTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::productTest ( )

inline

Definition at line 195 of file tests.hpp.

◆ testRandomSmoke()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::testRandomSmoke ( )

inline

Definition at line 441 of file tests.hpp.

◆ veeHatTest()

template<class LieGroup_ >

bool Sophus::LieGroupTests< LieGroup_ >::veeHatTest ( )

inline

Definition at line 304 of file tests.hpp.

Member Data Documentation

◆ DoF

template<class LieGroup_ >

constexpr int Sophus::LieGroupTests< LieGroup_ >::DoF = LieGroup::DoF

staticconstexpr

Definition at line 33 of file tests.hpp.

◆ group_vec_

template<class LieGroup_ >

std::vector<LieGroup, Eigen::aligned_allocator<LieGroup> > Sophus::LieGroupTests< LieGroup_ >::group_vec_

private

Definition at line 502 of file tests.hpp.

◆ kSmallEps

template<class LieGroup_ >

const Scalar Sophus::LieGroupTests< LieGroup_ >::kSmallEps = Constants<Scalar>::epsilon()

private

Definition at line 487 of file tests.hpp.

◆ kSmallEpsSqrt

template<class LieGroup_ >

const Scalar Sophus::LieGroupTests< LieGroup_ >::kSmallEpsSqrt = Constants<Scalar>::epsilonSqrt()

private

Definition at line 488 of file tests.hpp.

◆ N

template<class LieGroup_ >

constexpr int Sophus::LieGroupTests< LieGroup_ >::N = LieGroup::N

staticconstexpr

Definition at line 32 of file tests.hpp.

◆ num_parameters

template<class LieGroup_ >

constexpr int Sophus::LieGroupTests< LieGroup_ >::num_parameters = LieGroup::num_parameters

staticconstexpr

Definition at line 34 of file tests.hpp.

◆ point_vec_

template<class LieGroup_ >

std::vector<Point, Eigen::aligned_allocator<Point> > Sophus::LieGroupTests< LieGroup_ >::point_vec_

private

Definition at line 504 of file tests.hpp.

◆ tangent_vec_

template<class LieGroup_ >

std::vector<Tangent, Eigen::aligned_allocator<Tangent> > Sophus::LieGroupTests< LieGroup_ >::tangent_vec_

private

Definition at line 503 of file tests.hpp.

The documentation for this class was generated from the following file:

tests.hpp

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

template<class LieGroup_> class Sophus::LieGroupTests< LieGroup_ >

Member Typedef Documentation

◆ Adjoint

◆ ConstPointMap

◆ HomogeneousPoint

◆ LieGroup

◆ Line

◆ Point

◆ Scalar

◆ Tangent

◆ Transformation

Constructor & Destructor Documentation

◆ LieGroupTests()

Member Function Documentation

◆ additionalDerivativeTest() [1/2]

◆ additionalDerivativeTest() [2/2]

◆ adjointTest()

◆ contructorAndAssignmentTest()

◆ derivativeTest()

◆ doAllTestsPass() [1/2]

◆ doAllTestsPass() [2/2]

◆ doesLargeTestSetPass()

◆ doesSmallTestSetPass()

◆ expLogTest()

◆ expMapTest()

◆ groupActionTest()

◆ interpolateAndMeanTest()

◆ lieBracketTest()

◆ lineActionTest()

◆ map() [1/2]

◆ map() [2/2]

◆ newDeleteSmokeTest()

◆ productTest()

◆ testRandomSmoke()

◆ veeHatTest()

Member Data Documentation

◆ DoF

◆ group_vec_

◆ kSmallEps

◆ kSmallEpsSqrt

◆ N

◆ num_parameters

◆ point_vec_

◆ tangent_vec_

template<class LieGroup_>
class Sophus::LieGroupTests< LieGroup_ >