GraphSlamLevMarqTester< my_graph_t > Class Template Reference

Detailed Description

template<class my_graph_t>
class GraphSlamLevMarqTester< my_graph_t >

Definition at line 24 of file graph_slam_levmarq_unittest.cpp.

Inheritance diagram for GraphSlamLevMarqTester< my_graph_t >:

Static Public Member Functions
static void	addEdge (TNodeID from, TNodeID to, const typename my_graph_t::global_poses_t &real_poses, my_graph_t &graph)
static void	create_ring_path (my_graph_t &graph, size_t N_VERTEX=50, double DIST_THRES=7, double NODES_XY_MAX=20)

Protected Member Functions
virtual void	SetUp ()
virtual void	TearDown ()
void	test_ring_path ()
void	test_graph_bin_serialization ()

Member Function Documentation

addEdge()

template<class my_graph_t >

static void GraphSlamLevMarqTest< my_graph_t >::addEdge ( TNodeID  from, TNodeID  to, const typename my_graph_t::global_poses_t &  real_poses, my_graph_t &  graph  )

inlinestaticinherited

Definition at line 30 of file graph_slam_levmarq_test_common.h.

create_ring_path()

template<class my_graph_t >

static void GraphSlamLevMarqTest< my_graph_t >::create_ring_path ( my_graph_t &  graph, size_t  N_VERTEX = 50, double  DIST_THRES = 7, double  NODES_XY_MAX = 20  )

inlinestaticinherited

Definition at line 37 of file graph_slam_levmarq_test_common.h.

References DEG2RAD, mrpt::random::CRandomGenerator::drawGaussian1D(), M_PI, R, and mrpt::random::randomGenerator.

Referenced by GraphSlamLevMarqTester< my_graph_t >::test_graph_bin_serialization(), and GraphSlamLevMarqTester< my_graph_t >::test_ring_path().

SetUp()

template<class my_graph_t >

virtual void GraphSlamLevMarqTester< my_graph_t >::SetUp ( )

inlineprotectedvirtual

Definition at line 27 of file graph_slam_levmarq_unittest.cpp.

TearDown()

template<class my_graph_t >

virtual void GraphSlamLevMarqTester< my_graph_t >::TearDown ( )

inlineprotectedvirtual

Definition at line 30 of file graph_slam_levmarq_unittest.cpp.

test_graph_bin_serialization()

template<class my_graph_t >

void GraphSlamLevMarqTester< my_graph_t >::test_graph_bin_serialization ( )

inlineprotected

Definition at line 63 of file graph_slam_levmarq_unittest.cpp.

References GraphSlamLevMarqTest< my_graph_t >::create_ring_path(), and mrpt::utils::CMemoryStream::Seek().

test_ring_path()

template<class my_graph_t >

void GraphSlamLevMarqTester< my_graph_t >::test_ring_path ( )

inlineprotected

Definition at line 32 of file graph_slam_levmarq_unittest.cpp.

References GraphSlamLevMarqTest< my_graph_t >::create_ring_path(), mrpt::graphslam::TResultInfoSpaLevMarq::final_total_sq_error, mrpt::graphslam::TResultInfoSpaLevMarq::num_iters, and mrpt::graphslam::optimize_graph_spa_levmarq().