testNavState.cpp File Reference

Unit tests for NavState. More...

#include <gtsam/navigation/NavState.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>

Include dependency graph for testNavState.cpp:

Go to the source code of this file.

Functions
static const Vector3	kGravity (0, 0, 9.81)
static const Vector3	kOmegaCoriolis (0.02, 0.03, 0.04)
static const Point3	kPosition (1.0, 2.0, 3.0)
static const Velocity3	kVelocity (0.4, 0.5, 0.6)
int	main ()
	TEST (NavState, Constructor)
	TEST (NavState, Constructor2)
	TEST (NavState, Attitude)
	TEST (NavState, Position)
	TEST (NavState, Velocity)
	TEST (NavState, BodyVelocity)
	TEST (NavState, Manifold)
	TEST (NavState, Coriolis)
	TEST (NavState, Coriolis2)
	TEST (NavState, Coriolis3)
	TEST (NavState, CorrectPIM)
	TEST (NavState, Stream)

Variables
std::function< Vector9(const NavState &, const bool &)>	coriolis
static const double	dt = 2.0
static const Rot3	kAttitude = Rot3::RzRyRx(0.1, 0.2, 0.3)
static const NavState	kIdentity
static const Pose3	kPose (kAttitude, kPosition)
static const NavState	kState1 (kAttitude, kPosition, kVelocity)
static const Vector9	kZeroXi = Vector9::Zero()

Detailed Description

Unit tests for NavState.

Author

Frank Dellaert

Date

July 2015

Definition in file testNavState.cpp.

Function Documentation

kGravity()

static const Vector3 kGravity ( 0  , 0  , 9.  81  )

static

kOmegaCoriolis()

static const Vector3 kOmegaCoriolis ( 0.  02, 0.  03, 0.  04  )

static

kPosition()

static const Point3 kPosition ( 1.  0, 2.  0, 3.  0  )

static

kVelocity()

static const Velocity3 kVelocity ( 0.  4, 0.  5, 0.  6  )

static

main()

int main

(

void

)

Definition at line 276 of file testNavState.cpp.

TEST() [1/12]

TEST	(	NavState	,
		Constructor
	)

Definition at line 40 of file testNavState.cpp.

TEST() [2/12]

TEST	(	NavState	,
		Constructor2
	)

Definition at line 60 of file testNavState.cpp.

TEST() [3/12]

TEST	(	NavState	,
		Attitude
	)

Definition at line 73 of file testNavState.cpp.

TEST() [4/12]

TEST	(	NavState	,
		Position
	)

Definition at line 83 of file testNavState.cpp.

TEST() [5/12]

TEST	(	NavState	,
		Velocity
	)

Definition at line 94 of file testNavState.cpp.

TEST() [6/12]

TEST	(	NavState	,
		BodyVelocity
	)

Definition at line 105 of file testNavState.cpp.

TEST() [7/12]

TEST	(	NavState	,
		Manifold
	)

Definition at line 116 of file testNavState.cpp.

TEST() [8/12]

TEST	(	NavState	,
		Coriolis
	)

Definition at line 178 of file testNavState.cpp.

TEST() [9/12]

TEST	(	NavState	,
		Coriolis2
	)

Definition at line 189 of file testNavState.cpp.

TEST() [10/12]

TEST	(	NavState	,
		Coriolis3
	)

Consider a massless planet with an attached nav frame at n_omega = [0 0 1]', and a body at position n_t = [1 0 0]', travelling with velocity n_v = [0 1 0]'. Orient the body so that it is not instantaneously aligned with the nav frame (i.e., nRb != I_3x3). Test that first and second order Coriolis corrections are as expected.

Definition at line 202 of file testNavState.cpp.

TEST() [11/12]

TEST	(	NavState	,
		CorrectPIM
	)

Definition at line 246 of file testNavState.cpp.

TEST() [12/12]

TEST	(	NavState	,
		Stream
	)

Definition at line 261 of file testNavState.cpp.

Variable Documentation

coriolis

std::function<Vector9(const NavState&, const bool&)> coriolis

Initial value:

=
    std::bind(&NavState::coriolis, std::placeholders::_1, dt, kOmegaCoriolis,
              std::placeholders::_2, nullptr)

Definition at line 174 of file testNavState.cpp.

dt

const double dt = 2.0

static

Definition at line 173 of file testNavState.cpp.

kAttitude

const Rot3 kAttitude = Rot3::RzRyRx(0.1, 0.2, 0.3)

static

Definition at line 29 of file testNavState.cpp.

kIdentity

const NavState kIdentity

static

Definition at line 33 of file testNavState.cpp.

kPose

const Pose3 kPose(kAttitude, kPosition)

static

kState1

const NavState kState1(kAttitude, kPosition, kVelocity)

static

kZeroXi

const Vector9 kZeroXi = Vector9::Zero()

static

Definition at line 37 of file testNavState.cpp.