Unit test for AHRSFactor. More...
#include <gtsam/navigation/AHRSFactor.h>#include <gtsam/inference/Symbol.h>#include <gtsam/base/TestableAssertions.h>#include <gtsam/base/numericalDerivative.h>#include <gtsam/base/debug.h>#include <CppUnitLite/TestHarness.h>#include <list>#include <gtsam/nonlinear/NonlinearFactorGraph.h>#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>#include <gtsam/linear/GaussianFactorGraph.h>#include <gtsam/nonlinear/Marginals.h>
Go to the source code of this file.
Functions | |
| Vector3 | kZeroOmegaCoriolis (0, 0, 0) |
| int | main () |
| TEST (AHRSFactor, PreintegratedAhrsMeasurements) | |
| TEST (AHRSFactor, PreintegratedAhrsMeasurementsConstructor) | |
| TEST (AHRSFactor, Error) | |
| TEST (AHRSFactor, ErrorWithBiases) | |
| TEST (AHRSFactor, PartialDerivativeExpmap) | |
| TEST (AHRSFactor, PartialDerivativeLogmap) | |
| TEST (AHRSFactor, fistOrderExponential) | |
| TEST (AHRSFactor, FirstOrderPreIntegratedMeasurements) | |
| TEST (AHRSFactor, ErrorWithBiasesAndSensorBodyDisplacement) | |
| TEST (AHRSFactor, predictTest) | |
| TEST (AHRSFactor, graphTest) | |
Variables | |
| double | accNoiseVar = 0.01 |
| const Matrix3 | kMeasuredAccCovariance = accNoiseVar * I_3x3 |
Detailed Description
Unit test for AHRSFactor.
Definition in file testAHRSFactor.cpp.
Function Documentation
◆ kZeroOmegaCoriolis()
| Vector3 kZeroOmegaCoriolis | ( | 0 | , |
| 0 | , | ||
| 0 | |||
| ) |
◆ main()
| int main | ( | void | ) |
Definition at line 508 of file testAHRSFactor.cpp.
◆ TEST() [1/11]
| TEST | ( | AHRSFactor | , |
| PreintegratedAhrsMeasurements | |||
| ) |
< Current estimate of angular rate bias
Definition at line 92 of file testAHRSFactor.cpp.
◆ TEST() [2/11]
| TEST | ( | AHRSFactor | , |
| PreintegratedAhrsMeasurementsConstructor | |||
| ) |
< Current estimate of angular rate bias
Definition at line 124 of file testAHRSFactor.cpp.
◆ TEST() [3/11]
| TEST | ( | AHRSFactor | , |
| Error | |||
| ) |
Definition at line 152 of file testAHRSFactor.cpp.
◆ TEST() [4/11]
| TEST | ( | AHRSFactor | , |
| ErrorWithBiases | |||
| ) |
Definition at line 208 of file testAHRSFactor.cpp.
◆ TEST() [5/11]
| TEST | ( | AHRSFactor | , |
| PartialDerivativeExpmap | |||
| ) |
Definition at line 260 of file testAHRSFactor.cpp.
◆ TEST() [6/11]
| TEST | ( | AHRSFactor | , |
| PartialDerivativeLogmap | |||
| ) |
< Current estimate of rotation rate bias
Definition at line 285 of file testAHRSFactor.cpp.
◆ TEST() [7/11]
| TEST | ( | AHRSFactor | , |
| fistOrderExponential | |||
| ) |
Definition at line 311 of file testAHRSFactor.cpp.
◆ TEST() [8/11]
| TEST | ( | AHRSFactor | , |
| FirstOrderPreIntegratedMeasurements | |||
| ) |
< Current estimate of rotation rate bias
Definition at line 343 of file testAHRSFactor.cpp.
◆ TEST() [9/11]
| TEST | ( | AHRSFactor | , |
| ErrorWithBiasesAndSensorBodyDisplacement | |||
| ) |
Definition at line 384 of file testAHRSFactor.cpp.
◆ TEST() [10/11]
| TEST | ( | AHRSFactor | , |
| predictTest | |||
| ) |
Definition at line 435 of file testAHRSFactor.cpp.
◆ TEST() [11/11]
| TEST | ( | AHRSFactor | , |
| graphTest | |||
| ) |
Definition at line 472 of file testAHRSFactor.cpp.
Variable Documentation
◆ accNoiseVar
| double accNoiseVar = 0.01 |
Definition at line 42 of file testAHRSFactor.cpp.
◆ kMeasuredAccCovariance
| const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3 |
Definition at line 43 of file testAHRSFactor.cpp.