Unit tests for Gal3 class. More...

#include <gtsam/geometry/Gal3.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/TestableAssertions.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/Rot3.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Pose3.h>
#include <CppUnitLite/TestHarness.h>
#include <vector>
#include <functional>

Include dependency graph for testGal3.cpp:

Go to the source code of this file.

Functions
const Point3	kTestPos (1.0, -2.0, 3.0)

const Velocity3	kTestVel (0.5, 0.6, -0.7)

int	main ()

	TEST (Gal3, Act)

	TEST (Gal3, Adjoint)

	TEST (Gal3, Associativity)

	TEST (Gal3, Between)

	TEST (Gal3, ChartDerivatives)

	TEST (Gal3, ComponentAccessorsValue)

	TEST (Gal3, Compose)

	TEST (Gal3, Concept)

	TEST (Gal3, ExpLog_NearZero)

	TEST (Gal3, Expmap)

	TEST (Gal3, HatVee)

	TEST (Gal3, Identity)

	TEST (Gal3, IdentityProperties)

	TEST (Gal3, Interpolate)

	TEST (Gal3, Inverse)

	TEST (Gal3, Jacobian_Accessors)

	TEST (Gal3, Jacobian_AdjointMap)

	TEST (Gal3, Jacobian_Between)

	TEST (Gal3, Jacobian_Compose)

	TEST (Gal3, Jacobian_Compose2)

	TEST (Gal3, Jacobian_Expmap)

	TEST (Gal3, Jacobian_Interpolate)

	TEST (Gal3, Jacobian_Inverse)

	TEST (Gal3, Jacobian_Inverse2)

	TEST (Gal3, Jacobian_Logmap)

	TEST (Gal3, Jacobian_StaticConstructors)

	TEST (Gal3, LieGroupDerivatives)

	TEST (Gal3, Logmap)

	TEST (Gal3, MatrixComponents)

	TEST (Gal3, MatrixConstructorValue)

	TEST (Gal3, StaticAdjoint)

	TEST (Gal3, StaticConstructorsValue)

Variables
const Gal3	kIdentity_Lie = Gal3::Identity()

const Gal3	kTestGal3 (kTestRot, kTestPos, kTestVel, kTestTime)

const Gal3	kTestGal3_Lie1 (Rot3::RzRyRx(0.1, -0.2, 0.3), Point3(1.0, -2.0, 3.0), Velocity3(0.5, 0.6, -0.7), 1.5)

const Gal3	kTestGal3_Lie2 (Rot3::RzRyRx(-0.2, 0.3, 0.1), Point3(-2.0, 3.0, 1.0), Velocity3(0.6, -0.7, 0.5), 2.0)

const Pose3	kTestPose (kTestRot, kTestPos)

const Rot3	kTestRot = Rot3::RzRyRx(0.1, -0.2, 0.3)

const double	kTestTime = 1.5

static const double	kTol = 1e-8

Detailed Description

Unit tests for Gal3 class.

Authors: Matt Kielo, Scott Baker, Frank Dellaert

Date: April 29, 2025

Definition in file testGal3.cpp.

Function Documentation

◆ kTestPos()

const Point3 kTestPos	(	1.	0,
		-2.	0,
		3.	0
	)

◆ kTestVel()

const Velocity3 kTestVel	(	0.	5,
		0.	6,
		-0.	7
	)

◆ main()

int main ( )

Definition at line 1174 of file testGal3.cpp.

◆ TEST() [1/32]

TEST	(	Gal3	,
		Act
	)

Definition at line 835 of file testGal3.cpp.

◆ TEST() [2/32]

TEST	(	Gal3	,
		Adjoint
	)

Definition at line 448 of file testGal3.cpp.

◆ TEST() [3/32]

TEST	(	Gal3	,
		Associativity
	)

Definition at line 386 of file testGal3.cpp.

◆ TEST() [4/32]

TEST	(	Gal3	,
		Between
	)

Definition at line 326 of file testGal3.cpp.

◆ TEST() [5/32]

TEST	(	Gal3	,
		ChartDerivatives
	)

Definition at line 72 of file testGal3.cpp.

◆ TEST() [6/32]

TEST	(	Gal3	,
		ComponentAccessorsValue
	)

Definition at line 90 of file testGal3.cpp.

◆ TEST() [7/32]

TEST	(	Gal3	,
		Compose
	)

Definition at line 256 of file testGal3.cpp.

◆ TEST() [8/32]

TEST	(	Gal3	,
		Concept
	)

Definition at line 49 of file testGal3.cpp.

◆ TEST() [9/32]

TEST	(	Gal3	,
		ExpLog_NearZero
	)

Definition at line 1140 of file testGal3.cpp.

◆ TEST() [10/32]

TEST	(	Gal3	,
		Expmap
	)

Definition at line 184 of file testGal3.cpp.

◆ TEST() [11/32]

TEST	(	Gal3	,
		HatVee
	)

Definition at line 156 of file testGal3.cpp.

◆ TEST() [12/32]

TEST	(	Gal3	,
		Identity
	)

Definition at line 136 of file testGal3.cpp.

◆ TEST() [13/32]

TEST	(	Gal3	,
		IdentityProperties
	)

Definition at line 419 of file testGal3.cpp.

◆ TEST() [14/32]

TEST	(	Gal3	,
		Interpolate
	)

Definition at line 931 of file testGal3.cpp.

◆ TEST() [15/32]

TEST	(	Gal3	,
		Inverse
	)

Definition at line 293 of file testGal3.cpp.

◆ TEST() [16/32]

TEST	(	Gal3	,
		Jacobian_Accessors
	)

Definition at line 1030 of file testGal3.cpp.

◆ TEST() [17/32]

TEST	(	Gal3	,
		Jacobian_AdjointMap
	)

Definition at line 726 of file testGal3.cpp.

◆ TEST() [18/32]

TEST	(	Gal3	,
		Jacobian_Between
	)

Definition at line 687 of file testGal3.cpp.

◆ TEST() [19/32]

TEST	(	Gal3	,
		Jacobian_Compose
	)

Definition at line 517 of file testGal3.cpp.

◆ TEST() [20/32]

TEST	(	Gal3	,
		Jacobian_Compose2
	)

Definition at line 794 of file testGal3.cpp.

◆ TEST() [21/32]

TEST	(	Gal3	,
		Jacobian_Expmap
	)

Definition at line 656 of file testGal3.cpp.

◆ TEST() [22/32]

TEST	(	Gal3	,
		Jacobian_Interpolate
	)

Definition at line 1069 of file testGal3.cpp.

◆ TEST() [23/32]

TEST	(	Gal3	,
		Jacobian_Inverse
	)

Definition at line 562 of file testGal3.cpp.

◆ TEST() [24/32]

TEST	(	Gal3	,
		Jacobian_Inverse2
	)

Definition at line 765 of file testGal3.cpp.

◆ TEST() [25/32]

TEST	(	Gal3	,
		Jacobian_Logmap
	)

Definition at line 595 of file testGal3.cpp.

◆ TEST() [26/32]

TEST	(	Gal3	,
		Jacobian_StaticConstructors
	)

Definition at line 986 of file testGal3.cpp.

◆ TEST() [27/32]

TEST	(	Gal3	,
		LieGroupDerivatives
	)

Definition at line 63 of file testGal3.cpp.

◆ TEST() [28/32]

TEST	(	Gal3	,
		Logmap
	)

Definition at line 214 of file testGal3.cpp.

◆ TEST() [29/32]

TEST	(	Gal3	,
		MatrixComponents
	)

Definition at line 364 of file testGal3.cpp.

◆ TEST() [30/32]

TEST	(	Gal3	,
		MatrixConstructorValue
	)

Definition at line 104 of file testGal3.cpp.

◆ TEST() [31/32]

TEST	(	Gal3	,
		StaticAdjoint
	)

Definition at line 1098 of file testGal3.cpp.

◆ TEST() [32/32]

TEST	(	Gal3	,
		StaticConstructorsValue
	)

Definition at line 81 of file testGal3.cpp.

Variable Documentation

◆ kIdentity_Lie

const Gal3 kIdentity_Lie = Gal3::Identity()

Definition at line 59 of file testGal3.cpp.

◆ kTestGal3

const Gal3 kTestGal3(kTestRot, kTestPos, kTestVel, kTestTime)

◆ kTestGal3_Lie1

const Gal3 kTestGal3_Lie1(Rot3::RzRyRx(0.1, -0.2, 0.3), Point3(1.0, -2.0, 3.0), Velocity3(0.5, 0.6, -0.7), 1.5)

◆ kTestGal3_Lie2

const Gal3 kTestGal3_Lie2(Rot3::RzRyRx(-0.2, 0.3, 0.1), Point3(-2.0, 3.0, 1.0), Velocity3(0.6, -0.7, 0.5), 2.0)

◆ kTestPose

const Pose3 kTestPose(kTestRot, kTestPos)

◆ kTestRot

const Rot3 kTestRot = Rot3::RzRyRx(0.1, -0.2, 0.3)

Definition at line 40 of file testGal3.cpp.

◆ kTestTime

const double kTestTime = 1.5

Definition at line 43 of file testGal3.cpp.

◆ kTol

const double kTol = 1e-8

static

Definition at line 33 of file testGal3.cpp.

Functions

Variables