testNonlinearOptimizer.cpp File Reference

Unit tests for NonlinearOptimizer class. More...

#include <tests/smallExample.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/DoglegOptimizer.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/base/Matrix.h>
#include <CppUnitLite/TestHarness.h>
#include <iostream>
#include <fstream>
#include <gtsam/linear/iterative.h>

Include dependency graph for testNonlinearOptimizer.cpp:

Go to the source code of this file.

Classes
class	IterativeLM
struct	MyType
struct	gtsam::traits< MyType >

Namespaces
	gtsam
	traits

Functions
int	main ()
	TEST (NonlinearOptimizer, paramsEquals)
	TEST (NonlinearOptimizer, iterateLM)
	TEST (NonlinearOptimizer, optimize)
	TEST (NonlinearOptimizer, SimpleLMOptimizer)
	TEST (NonlinearOptimizer, SimpleGNOptimizer)
	TEST (NonlinearOptimizer, SimpleDLOptimizer)
	TEST (NonlinearOptimizer, optimization_method)
	TEST (NonlinearOptimizer, Factorization)
	TEST (NonlinearOptimizer, NullFactor)
	TEST (NonlinearOptimizer, Pose2OptimizationWithHuberNoOutlier)
	TEST (NonlinearOptimizer, Point2LinearOptimizationWithHuber)
	TEST (NonlinearOptimizer, Pose2OptimizationWithHuber)
	TEST (NonlinearOptimizer, RobustMeanCalculation)
	TEST (NonlinearOptimizer, disconnected_graph)
	TEST (NonlinearOptimizer, subclass_solver)
	TEST (NonlinearOptimizer, logfile)
	TEST (NonlinearOptimizer, iterationHook_LM)
	TEST (NonlinearOptimizer, iterationHook_CG)
	TEST (NonlinearOptimizer, Traits)
	TEST_UNSAFE (NonlinearOptimizer, MoreOptimization)

Variables
const double	tol = 1e-5

Detailed Description

Unit tests for NonlinearOptimizer class.

Author

Frank Dellaert

Definition in file testNonlinearOptimizer.cpp.

Function Documentation

main()

int main

(

void

)

Definition at line 663 of file testNonlinearOptimizer.cpp.

TEST() [1/19]

TEST	(	NonlinearOptimizer	,
		paramsEquals
	)

Definition at line 47 of file testNonlinearOptimizer.cpp.

TEST() [2/19]

TEST	(	NonlinearOptimizer	,
		iterateLM
	)

Definition at line 60 of file testNonlinearOptimizer.cpp.

TEST() [3/19]

TEST	(	NonlinearOptimizer	,
		optimize
	)

Definition at line 85 of file testNonlinearOptimizer.cpp.

TEST() [4/19]

TEST	(	NonlinearOptimizer	,
		SimpleLMOptimizer
	)

Definition at line 125 of file testNonlinearOptimizer.cpp.

TEST() [5/19]

TEST	(	NonlinearOptimizer	,
		SimpleGNOptimizer
	)

Definition at line 138 of file testNonlinearOptimizer.cpp.

TEST() [6/19]

TEST	(	NonlinearOptimizer	,
		SimpleDLOptimizer
	)

Definition at line 151 of file testNonlinearOptimizer.cpp.

TEST() [7/19]

TEST	(	NonlinearOptimizer	,
		optimization_method
	)

Definition at line 164 of file testNonlinearOptimizer.cpp.

TEST() [8/19]

TEST	(	NonlinearOptimizer	,
		Factorization
	)

Definition at line 185 of file testNonlinearOptimizer.cpp.

TEST() [9/19]

TEST	(	NonlinearOptimizer	,
		NullFactor
	)

Definition at line 211 of file testNonlinearOptimizer.cpp.

TEST() [10/19]

TEST	(	NonlinearOptimizer	,
		Pose2OptimizationWithHuberNoOutlier
	)

Definition at line 351 of file testNonlinearOptimizer.cpp.

TEST() [11/19]

TEST	(	NonlinearOptimizer	,
		Point2LinearOptimizationWithHuber
	)

Definition at line 382 of file testNonlinearOptimizer.cpp.

TEST() [12/19]

TEST	(	NonlinearOptimizer	,
		Pose2OptimizationWithHuber
	)

Definition at line 416 of file testNonlinearOptimizer.cpp.

TEST() [13/19]

TEST	(	NonlinearOptimizer	,
		RobustMeanCalculation
	)

Definition at line 453 of file testNonlinearOptimizer.cpp.

TEST() [14/19]

TEST	(	NonlinearOptimizer	,
		disconnected_graph
	)

Definition at line 485 of file testNonlinearOptimizer.cpp.

TEST() [15/19]

TEST	(	NonlinearOptimizer	,
		subclass_solver
	)

Definition at line 531 of file testNonlinearOptimizer.cpp.

TEST() [16/19]

TEST	(	NonlinearOptimizer	,
		logfile
	)

Definition at line 554 of file testNonlinearOptimizer.cpp.

TEST() [17/19]

TEST	(	NonlinearOptimizer	,
		iterationHook_LM
	)

Definition at line 580 of file testNonlinearOptimizer.cpp.

TEST() [18/19]

TEST	(	NonlinearOptimizer	,
		iterationHook_CG
	)

Definition at line 605 of file testNonlinearOptimizer.cpp.

TEST() [19/19]

TEST	(	NonlinearOptimizer	,
		Traits
	)

Definition at line 650 of file testNonlinearOptimizer.cpp.

TEST_UNSAFE()

TEST_UNSAFE	(	NonlinearOptimizer	,
		MoreOptimization
	)

Definition at line 248 of file testNonlinearOptimizer.cpp.

Variable Documentation

tol

const double tol = 1e-5

Definition at line 41 of file testNonlinearOptimizer.cpp.