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CPose3D_unittest.cpp File Reference
#include <mrpt/poses/CPose3D.h>
#include <mrpt/math/jacobians.h>
#include <gtest/gtest.h>
Include dependency graph for CPose3D_unittest.cpp:

Go to the source code of this file.

Classes

class  Pose3DTests
 
struct  Pose3DTests::TParams_func_jacob_Aexpe_D
 

Functions

 TEST_F (Pose3DTests, DefaultValues)
 
 TEST_F (Pose3DTests, Initialization)
 
 TEST_F (Pose3DTests, OperatorBracket)
 
 TEST_F (Pose3DTests, InverseHM)
 
 TEST_F (Pose3DTests, Compose)
 
 TEST_F (Pose3DTests, composeFrom)
 
 TEST_F (Pose3DTests, ToFromCPose2D)
 
 TEST_F (Pose3DTests, ComposeAndInvComposeWithPoint)
 
 TEST_F (Pose3DTests, ComposePointJacob)
 
 TEST_F (Pose3DTests, ComposePointJacobApprox)
 
 TEST_F (Pose3DTests, InvComposePointJacob)
 
 TEST_F (Pose3DTests, ComposePointJacob_se3)
 
 TEST_F (Pose3DTests, InvComposePointJacob_se3)
 
 TEST_F (Pose3DTests, ExpLnEqual)
 
 TEST_F (Pose3DTests, Jacob_dExpe_de_at_0)
 
 TEST_F (Pose3DTests, Jacob_dLnT_dT)
 
 TEST_F (Pose3DTests, Jacob_dexpeD_de)
 
 TEST_F (Pose3DTests, Jacob_dAexpeD_de)
 

Variables

const double ptc [][6]
 
const size_t num_ptc = sizeof(ptc)/sizeof(ptc[0])
 

Function Documentation

TEST_F ( Pose3DTests  ,
DefaultValues   
)

Definition at line 590 of file CPose3D_unittest.cpp.

TEST_F ( Pose3DTests  ,
Initialization   
)
TEST_F ( Pose3DTests  ,
OperatorBracket   
)

Definition at line 625 of file CPose3D_unittest.cpp.

TEST_F ( Pose3DTests  ,
InverseHM   
)

Definition at line 660 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F ( Pose3DTests  ,
Compose   
)

Definition at line 666 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F ( Pose3DTests  ,
composeFrom   
)

Definition at line 674 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F ( Pose3DTests  ,
ToFromCPose2D   
)

Definition at line 683 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F ( Pose3DTests  ,
ComposeAndInvComposeWithPoint   
)

Definition at line 689 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F ( Pose3DTests  ,
ComposePointJacob   
)

Definition at line 700 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F ( Pose3DTests  ,
ComposePointJacobApprox   
)

Definition at line 709 of file CPose3D_unittest.cpp.

References DEG2RAD.

TEST_F ( Pose3DTests  ,
InvComposePointJacob   
)

Definition at line 717 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F ( Pose3DTests  ,
ComposePointJacob_se3   
)

Definition at line 728 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F ( Pose3DTests  ,
InvComposePointJacob_se3   
)

Definition at line 737 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F ( Pose3DTests  ,
ExpLnEqual   
)

Definition at line 747 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F ( Pose3DTests  ,
Jacob_dExpe_de_at_0   
)

Definition at line 753 of file CPose3D_unittest.cpp.

TEST_F ( Pose3DTests  ,
Jacob_dLnT_dT   
)

Definition at line 758 of file CPose3D_unittest.cpp.

References DEG2RAD.

TEST_F ( Pose3DTests  ,
Jacob_dexpeD_de   
)

Definition at line 768 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F ( Pose3DTests  ,
Jacob_dAexpeD_de   
)

Definition at line 774 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

Variable Documentation

const size_t num_ptc = sizeof(ptc)/sizeof(ptc[0])

Definition at line 656 of file CPose3D_unittest.cpp.

Referenced by TEST_F().

const double ptc[][6]
Initial value:
= {
{ .0, .0, .0, .0, .0, .0 },
{ 1.0, 2.0, 3.0, .0, .0, .0 },
{ 1.0, 2.0, 3.0, 10.0, .0, .0 },
{ 1.0, 2.0, 3.0, .0, 1.0, .0 },
{ 1.0, 2.0, 3.0, .0, .0, 1.0 },
{ 1.0, 2.0, 3.0, 80.0, 5.0, 5.0 },
{ 1.0, 2.0, 3.0,-20.0,-30.0,-40.0 },
{ 1.0, 2.0, 3.0,-45.0, 10.0, 70.0 },
{ 1.0, 2.0, 3.0, 40.0, -5.0, 25.0 },
{ 1.0, 2.0, 3.0, 40.0, 20.0,-15.0 },
{-6.0, 2.0, 3.0, 40.0, 20.0, 15.0 },
{ 6.0, -5.0, 3.0, 40.0, 20.0, 15.0 },
{ 6.0, 2.0, -9.0, 40.0, 20.0, 15.0 },
{ 0.0, 8.0, 5.0,-45.0, 10.0, 70.0 },
{ 1.0, 0.0, 5.0,-45.0, 10.0, 70.0 },
{ 1.0, 8.0, 0.0,-45.0, 10.0, 70.0 }
}

Definition at line 638 of file CPose3D_unittest.cpp.

Referenced by TEST_F().




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