Unit tests for SO3, as a GTSAM-adapted Lie Group. More...

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/SO3.h>

Include dependency graph for testSO3.cpp:

Go to the source code of this file.

Namespaces
	exmap_derivative

Functions
int	main ()

	TEST (SO3, Identity)

	TEST (SO3, Concept)

	TEST (SO3, Constructors)

	TEST (SO3, ClosestTo)

	TEST (SO3, ChordalMean)

	TEST (SO3, Hat)

	TEST (SO3, Vee)

	TEST (SO3, Local)

	TEST (SO3, Retract)

	TEST (SO3, Logmap)

	TEST (SO3, Expmap)

	TEST (SO3, Invariants)

	TEST (SO3, LieGroupDerivatives)

	TEST (SO3, ChartDerivatives)

	TEST (SO3, ExpmapFunctor)

	TEST (SO3, ExpmapDerivative)

	TEST (SO3, ExpmapDerivative2)

	TEST (SO3, ExpmapDerivative3)

	TEST (SO3, ExpmapDerivative4)

	TEST (SO3, ExpmapDerivative5)

	TEST (SO3, ExpmapDerivative6)

	TEST (SO3, LogmapDerivative)

	TEST (SO3, JacobianLogmap)

	TEST (SO3, ApplyDexp)

	TEST (SO3, ApplyInvDexp)

	TEST (SO3, vec)

	TEST (Matrix, compose)

Vector3	testDexpL (const Vector3 &dw)

static const Vector3	exmap_derivative::w (0.1, 0.27, -0.2)

Detailed Description

Unit tests for SO3, as a GTSAM-adapted Lie Group.

Author: Frank Dellaert

Definition in file testSO3.cpp.

Function Documentation

◆ main()

int main ( void )

Definition at line 381 of file testSO3.cpp.

◆ TEST() [1/27]

TEST	(	SO3	,
		Identity
	)

Definition at line 28 of file testSO3.cpp.

◆ TEST() [2/27]

TEST	(	SO3	,
		Concept
	)

Definition at line 38 of file testSO3.cpp.

◆ TEST() [3/27]

TEST	(	SO3	,
		Constructors
	)

Definition at line 45 of file testSO3.cpp.

◆ TEST() [4/27]

TEST	(	SO3	,
		ClosestTo
	)

Definition at line 54 of file testSO3.cpp.

◆ TEST() [5/27]

TEST	(	SO3	,
		ChordalMean
	)

Definition at line 78 of file testSO3.cpp.

◆ TEST() [6/27]

TEST	(	SO3	,
		Hat
	)

Definition at line 85 of file testSO3.cpp.

◆ TEST() [7/27]

TEST	(	SO3	,
		Vee
	)

Definition at line 93 of file testSO3.cpp.

◆ TEST() [8/27]

TEST	(	SO3	,
		Local
	)

Definition at line 101 of file testSO3.cpp.

◆ TEST() [9/27]

TEST	(	SO3	,
		Retract
	)

Definition at line 108 of file testSO3.cpp.

◆ TEST() [10/27]

TEST	(	SO3	,
		Logmap
	)

Definition at line 115 of file testSO3.cpp.

◆ TEST() [11/27]

TEST	(	SO3	,
		Expmap
	)

Definition at line 122 of file testSO3.cpp.

◆ TEST() [12/27]

TEST	(	SO3	,
		Invariants
	)

Definition at line 129 of file testSO3.cpp.

◆ TEST() [13/27]

TEST	(	SO3	,
		LieGroupDerivatives
	)

Definition at line 142 of file testSO3.cpp.

◆ TEST() [14/27]

TEST	(	SO3	,
		ChartDerivatives
	)

Definition at line 150 of file testSO3.cpp.

◆ TEST() [15/27]

TEST	(	SO3	,
		ExpmapFunctor
	)

Definition at line 158 of file testSO3.cpp.

◆ TEST() [16/27]

TEST	(	SO3	,
		ExpmapDerivative
	)

Definition at line 198 of file testSO3.cpp.

◆ TEST() [17/27]

TEST	(	SO3	,
		ExpmapDerivative2
	)

Definition at line 210 of file testSO3.cpp.

◆ TEST() [18/27]

TEST	(	SO3	,
		ExpmapDerivative3
	)

Definition at line 221 of file testSO3.cpp.

◆ TEST() [19/27]

TEST	(	SO3	,
		ExpmapDerivative4
	)

Definition at line 232 of file testSO3.cpp.

◆ TEST() [20/27]

TEST	(	SO3	,
		ExpmapDerivative5
	)

Definition at line 260 of file testSO3.cpp.

◆ TEST() [21/27]

TEST	(	SO3	,
		ExpmapDerivative6
	)

Definition at line 276 of file testSO3.cpp.

◆ TEST() [22/27]

TEST	(	SO3	,
		LogmapDerivative
	)

Definition at line 286 of file testSO3.cpp.

◆ TEST() [23/27]

TEST	(	SO3	,
		JacobianLogmap
	)

Definition at line 296 of file testSO3.cpp.

◆ TEST() [24/27]

TEST	(	SO3	,
		ApplyDexp
	)

Definition at line 307 of file testSO3.cpp.

◆ TEST() [25/27]

TEST	(	SO3	,
		ApplyInvDexp
	)

Definition at line 330 of file testSO3.cpp.

◆ TEST() [26/27]

TEST	(	SO3	,
		vec
	)

Definition at line 354 of file testSO3.cpp.

◆ TEST() [27/27]

TEST	(	Matrix	,
		compose
	)

Definition at line 365 of file testSO3.cpp.

◆ testDexpL()

Vector3 testDexpL ( const Vector3 & dw )

Definition at line 193 of file testSO3.cpp.

Namespaces

Functions