testNoiseModel.cpp File Reference

#include <gtsam/linear/NoiseModel.h>
#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>
#include <limits>

Include dependency graph for testNoiseModel.cpp:

Go to the source code of this file.

Namespaces
	exampleQR

Macros
#define	TEST_GAUSSIAN(gaussian)

Functions
static const Vector3	kSigmas (kSigma, kSigma, kSigma)
int	main ()
	TEST (NoiseModel, constructors)
	TEST (NoiseModel, Unit)
	TEST (NoiseModel, equals)
	TEST (NoiseModel, ConstrainedConstructors)
	TEST (NoiseModel, ConstrainedMixed)
	TEST (NoiseModel, ConstrainedAll)
	TEST (NoiseModel, QR)
	TEST (NoiseModel, OverdeterminedQR)
	TEST (NoiseModel, MixedQR)
	TEST (NoiseModel, MixedQR2)
	TEST (NoiseModel, FullyConstrained)
	TEST (NoiseModel, QRNan)
	TEST (NoiseModel, SmartSqrtInformation)
	TEST (NoiseModel, SmartSqrtInformation2)
	TEST (NoiseModel, SmartInformation)
	TEST (NoiseModel, SmartCovariance)
	TEST (NoiseModel, ScalarOrVector)
	TEST (NoiseModel, WhitenInPlace)
	TEST (NoiseModel, robustFunctionFair)
	TEST (NoiseModel, robustFunctionHuber)
	TEST (NoiseModel, robustFunctionCauchy)
	TEST (NoiseModel, robustFunctionGemanMcClure)
	TEST (NoiseModel, robustFunctionWelsch)
	TEST (NoiseModel, robustFunctionTukey)
	TEST (NoiseModel, robustFunctionDCS)
	TEST (NoiseModel, robustFunctionL2WithDeadZone)
	TEST (NoiseModel, robustNoiseHuber)
	TEST (NoiseModel, robustNoiseGemanMcClure)
	TEST (NoiseModel, robustNoiseDCS)
	TEST (NoiseModel, robustNoiseL2WithDeadZone)
	TEST (NoiseModel, lossFunctionAtZero)
	TEST (NoiseModel, NonDiagonalGaussian)

Variables
Matrix	exampleQR::Ab
SharedDiagonal	exampleQR::diagonal = noiseModel::Diagonal::Sigmas(sigmas)
static const Matrix	kCovariance = I_3x3 * kVariance
static const double	kInverseSigma = 1.0 / kSigma
static const double	kSigma = 2
static const double	kVariance = kSigma * kSigma
static const double	prc = 1.0 / kVariance
static const Matrix	R = I_3x3 * kInverseSigma
Matrix	exampleQR::Rd
Vector	exampleQR::sigmas = (Vector(4) << 0.2, 0.2, 0.1, 0.1).finished()

Detailed Description

Date

Jan 13, 2010

Author

Richard Roberts

Frank Dellaert

Definition in file testNoiseModel.cpp.

Macro Definition Documentation

TEST_GAUSSIAN

#define TEST_GAUSSIAN

(

gaussian

)

Value:

EQUALITY(info, gaussian->information());\
  EQUALITY(cov, gaussian->covariance());\
  EXPECT(assert_equal(white, gaussian->whiten(e)));\
  EXPECT(assert_equal(e, gaussian->unwhiten(white)));\
  EXPECT_DOUBLES_EQUAL(251.0, gaussian->squaredMahalanobisDistance(e), 1e-9);\
  EXPECT_DOUBLES_EQUAL(0.5 * 251.0, gaussian->loss(251.0), 1e-9);\
  Matrix A = R.inverse(); Vector b = e;\
  gaussian->WhitenSystem(A, b);\
  EXPECT(assert_equal(I, A));\
  EXPECT(assert_equal(white, b));

Definition at line 704 of file testNoiseModel.cpp.

Function Documentation

kSigmas()

static const Vector3 kSigmas ( kSigma  , kSigma  , kSigma    )

static

main()

int main

(

void

)

Definition at line 743 of file testNoiseModel.cpp.

TEST() [1/32]

TEST	(	NoiseModel	,
		constructors
	)

Definition at line 39 of file testNoiseModel.cpp.

TEST() [2/32]

TEST	(	NoiseModel	,
		Unit
	)

Definition at line 100 of file testNoiseModel.cpp.

TEST() [3/32]

TEST	(	NoiseModel	,
		equals
	)

Definition at line 108 of file testNoiseModel.cpp.

TEST() [4/32]

TEST	(	NoiseModel	,
		ConstrainedConstructors
	)

• ************************************************************************* */

Definition at line 145 of file testNoiseModel.cpp.

TEST() [5/32]

TEST	(	NoiseModel	,
		ConstrainedMixed
	)

Definition at line 173 of file testNoiseModel.cpp.

TEST() [6/32]

TEST	(	NoiseModel	,
		ConstrainedAll
	)

Definition at line 188 of file testNoiseModel.cpp.

TEST() [7/32]

TEST	(	NoiseModel	,
		QR
	)

Definition at line 224 of file testNoiseModel.cpp.

TEST() [8/32]

TEST	(	NoiseModel	,
		OverdeterminedQR
	)

Definition at line 251 of file testNoiseModel.cpp.

TEST() [9/32]

TEST	(	NoiseModel	,
		MixedQR
	)

Definition at line 283 of file testNoiseModel.cpp.

TEST() [10/32]

TEST	(	NoiseModel	,
		MixedQR2
	)

Definition at line 316 of file testNoiseModel.cpp.

TEST() [11/32]

TEST	(	NoiseModel	,
		FullyConstrained
	)

Definition at line 355 of file testNoiseModel.cpp.

TEST() [12/32]

TEST	(	NoiseModel	,
		QRNan
	)

Definition at line 378 of file testNoiseModel.cpp.

TEST() [13/32]

TEST	(	NoiseModel	,
		SmartSqrtInformation
	)

Definition at line 392 of file testNoiseModel.cpp.

TEST() [14/32]

TEST	(	NoiseModel	,
		SmartSqrtInformation2
	)

Definition at line 401 of file testNoiseModel.cpp.

TEST() [15/32]

TEST	(	NoiseModel	,
		SmartInformation
	)

Definition at line 410 of file testNoiseModel.cpp.

TEST() [16/32]

TEST	(	NoiseModel	,
		SmartCovariance
	)

Definition at line 421 of file testNoiseModel.cpp.

TEST() [17/32]

TEST	(	NoiseModel	,
		ScalarOrVector
	)

Definition at line 430 of file testNoiseModel.cpp.

TEST() [18/32]

TEST	(	NoiseModel	,
		WhitenInPlace
	)

Definition at line 439 of file testNoiseModel.cpp.

TEST() [19/32]

TEST	(	NoiseModel	,
		robustFunctionFair
	)

Definition at line 459 of file testNoiseModel.cpp.

TEST() [20/32]

TEST	(	NoiseModel	,
		robustFunctionHuber
	)

Definition at line 475 of file testNoiseModel.cpp.

TEST() [21/32]

TEST	(	NoiseModel	,
		robustFunctionCauchy
	)

Definition at line 491 of file testNoiseModel.cpp.

TEST() [22/32]

TEST	(	NoiseModel	,
		robustFunctionGemanMcClure
	)

Definition at line 507 of file testNoiseModel.cpp.

TEST() [23/32]

TEST	(	NoiseModel	,
		robustFunctionWelsch
	)

Definition at line 522 of file testNoiseModel.cpp.

TEST() [24/32]

TEST	(	NoiseModel	,
		robustFunctionTukey
	)

Definition at line 538 of file testNoiseModel.cpp.

TEST() [25/32]

TEST	(	NoiseModel	,
		robustFunctionDCS
	)

Definition at line 554 of file testNoiseModel.cpp.

TEST() [26/32]

TEST	(	NoiseModel	,
		robustFunctionL2WithDeadZone
	)

Definition at line 566 of file testNoiseModel.cpp.

TEST() [27/32]

TEST	(	NoiseModel	,
		robustNoiseHuber
	)

Definition at line 587 of file testNoiseModel.cpp.

TEST() [28/32]

TEST	(	NoiseModel	,
		robustNoiseGemanMcClure
	)

Definition at line 607 of file testNoiseModel.cpp.

TEST() [29/32]

TEST	(	NoiseModel	,
		robustNoiseDCS
	)

Definition at line 635 of file testNoiseModel.cpp.

TEST() [30/32]

TEST	(	NoiseModel	,
		robustNoiseL2WithDeadZone
	)

Definition at line 658 of file testNoiseModel.cpp.

TEST() [31/32]

TEST	(	NoiseModel	,
		lossFunctionAtZero
	)

Definition at line 673 of file testNoiseModel.cpp.

TEST() [32/32]

TEST	(	NoiseModel	,
		NonDiagonalGaussian
	)

Definition at line 716 of file testNoiseModel.cpp.

Variable Documentation

kCovariance

const Matrix kCovariance = I_3x3 * kVariance

static

Definition at line 35 of file testNoiseModel.cpp.

kInverseSigma

const double kInverseSigma = 1.0 / kSigma

static

Definition at line 32 of file testNoiseModel.cpp.

kSigma

const double kSigma = 2

static

Definition at line 32 of file testNoiseModel.cpp.

kVariance

const double kVariance = kSigma * kSigma

static

Definition at line 33 of file testNoiseModel.cpp.

prc

const double prc = 1.0 / kVariance

static

Definition at line 33 of file testNoiseModel.cpp.

R

const Matrix R = I_3x3 * kInverseSigma

static

Definition at line 34 of file testNoiseModel.cpp.