#include <gtest/gtest.h>
#include <Eigen/Dense>
#include "steering_functions/filter/ekf.hpp"
#include "steering_functions/steering_functions.hpp"
#include "steering_functions/utilities/utilities.hpp"

Include dependency graph for jacobian_test.cpp:

Macros
#define	EPS_JACOBI 1e-4

#define	EPS_PERTURB 1e-7

#define	OPERATING_REGION_DELTA_S 0.4

#define	OPERATING_REGION_KAPPA 2.0

#define	OPERATING_REGION_SIGMA 2.0

#define	OPERATING_REGION_THETA 2 * M_PI

#define	OPERATING_REGION_X 20.0

#define	OPERATING_REGION_Y 20.0

#define	random(lower, upper) (rand() * (upper - lower) / RAND_MAX + lower)

#define	random_boolean() rand() % 2

#define	SAMPLES 1e6

Typedefs
typedef Eigen::Matrix< double, 2, 2 >	Matrix2d

typedef Eigen::Matrix< double, 3, 2 >	Matrix32d

typedef Eigen::Matrix< double, 3, 3 >	Matrix3d

Functions
Matrix32d	get_num_motion_jacobi_u (const State &state, const Control &control, double integration_step)

Matrix3d	get_num_motion_jacobi_x (const State &state, const Control &control, double integration_step)

Control	get_random_control ()

State	get_random_state ()

State	integrate_ODE (const State &state, const Control &control, double integration_step)

int	main (int argc, char **argv)

	TEST (Jacobian, F_u)

	TEST (Jacobian, F_x)

Macro Definition Documentation

◆ EPS_JACOBI

#define EPS_JACOBI 1e-4

Definition at line 26 of file jacobian_test.cpp.

◆ EPS_PERTURB

#define EPS_PERTURB 1e-7

Definition at line 27 of file jacobian_test.cpp.

◆ OPERATING_REGION_DELTA_S

#define OPERATING_REGION_DELTA_S 0.4

Definition at line 33 of file jacobian_test.cpp.

◆ OPERATING_REGION_KAPPA

#define OPERATING_REGION_KAPPA 2.0

Definition at line 32 of file jacobian_test.cpp.

◆ OPERATING_REGION_SIGMA

#define OPERATING_REGION_SIGMA 2.0

Definition at line 34 of file jacobian_test.cpp.

◆ OPERATING_REGION_THETA

#define OPERATING_REGION_THETA 2 * M_PI

Definition at line 31 of file jacobian_test.cpp.

◆ OPERATING_REGION_X

#define OPERATING_REGION_X 20.0

Definition at line 29 of file jacobian_test.cpp.

◆ OPERATING_REGION_Y

#define OPERATING_REGION_Y 20.0

Definition at line 30 of file jacobian_test.cpp.

◆ random

#define random	(	lower,
		upper
	)	(rand() * (upper - lower) / RAND_MAX + lower)

Definition at line 35 of file jacobian_test.cpp.

◆ random_boolean

#define random_boolean ( ) rand() % 2

Definition at line 36 of file jacobian_test.cpp.

◆ SAMPLES

#define SAMPLES 1e6

Definition at line 28 of file jacobian_test.cpp.

Typedef Documentation

◆ Matrix2d

typedef Eigen::Matrix<double, 2, 2> Matrix2d

Definition at line 41 of file jacobian_test.cpp.

◆ Matrix32d

typedef Eigen::Matrix<double, 3, 2> Matrix32d

Definition at line 43 of file jacobian_test.cpp.

◆ Matrix3d

typedef Eigen::Matrix<double, 3, 3> Matrix3d

Definition at line 42 of file jacobian_test.cpp.

Function Documentation

◆ get_num_motion_jacobi_u()

Matrix32d get_num_motion_jacobi_u	(	const State &	state,
		const Control &	control,
		double	integration_step
	)

Definition at line 117 of file jacobian_test.cpp.

◆ get_num_motion_jacobi_x()

Matrix3d get_num_motion_jacobi_x	(	const State &	state,
		const Control &	control,
		double	integration_step
	)

Definition at line 94 of file jacobian_test.cpp.

◆ get_random_control()

Control get_random_control ( )

Definition at line 56 of file jacobian_test.cpp.

◆ get_random_state()

State get_random_state ( )

Definition at line 45 of file jacobian_test.cpp.

◆ integrate_ODE()

State integrate_ODE	(	const State &	state,
		const Control &	control,
		double	integration_step
	)

Definition at line 64 of file jacobian_test.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 197 of file jacobian_test.cpp.

◆ TEST() [1/2]

TEST	(	Jacobian	,
		F_u
	)

Definition at line 171 of file jacobian_test.cpp.

◆ TEST() [2/2]

TEST	(	Jacobian	,
		F_x
	)

Definition at line 145 of file jacobian_test.cpp.

Macros

Typedefs

Functions