se3_unittest.cpp File Reference

#include <mrpt/tfest.h>
#include <mrpt/random.h>
#include <mrpt/math/ops_vectors.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <gtest/gtest.h>

Include dependency graph for se3_unittest.cpp:

Go to the source code of this file.

Typedefs
typedef std::vector< std::vector< double > >	TPoints

Functions
CPose3DQuat	generate_points (TPoints &pA, TPoints &pB)
void	generate_list_of_points (const TPoints &pA, const TPoints &pB, TMatchingPairList &list)
void	generate_vector_of_points (const TPoints &pA, const TPoints &pB, vector< mrpt::math::TPoint3D > &ptsA, vector< mrpt::math::TPoint3D > &ptsB)
	TEST (tfest, se3_l2_MatchList)
	TEST (tfest, se3_l2_PtsLists)
	TEST (tfest, se3_l2_robust)

Typedef Documentation

TPoints

typedef std::vector< std::vector< double > > TPoints

Definition at line 24 of file se3_unittest.cpp.

Function Documentation

generate_list_of_points()

void generate_list_of_points	(	const TPoints &	pA,
		const TPoints &	pB,
		TMatchingPairList &	list
	)

Definition at line 62 of file se3_unittest.cpp.

References mrpt::utils::TMatchingPair::other_idx, mrpt::utils::TMatchingPair::other_x, mrpt::utils::TMatchingPair::other_y, mrpt::utils::TMatchingPair::other_z, mrpt::utils::TMatchingPair::this_idx, mrpt::utils::TMatchingPair::this_x, mrpt::utils::TMatchingPair::this_y, and mrpt::utils::TMatchingPair::this_z.

Referenced by TEST().

generate_points()

CPose3DQuat generate_points	(	TPoints &	pA,
		TPoints &	pB
	)

Definition at line 29 of file se3_unittest.cpp.

References mrpt::utils::DEG2RAD(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

Referenced by TEST().

generate_vector_of_points()

void generate_vector_of_points	(	const TPoints &	pA,
		const TPoints &	pB,
		vector< mrpt::math::TPoint3D > &	ptsA,
		vector< mrpt::math::TPoint3D > &	ptsB
	)

Definition at line 83 of file se3_unittest.cpp.

Referenced by TEST().

TEST() [1/3]

TEST	(	tfest	,
		se3_l2_MatchList
	)

Definition at line 95 of file se3_unittest.cpp.

References generate_list_of_points(), generate_points(), mrpt::tfest::se3_l2(), and mrpt::math::square().

TEST() [2/3]

TEST	(	tfest	,
		se3_l2_PtsLists
	)

Definition at line 128 of file se3_unittest.cpp.

References generate_points(), generate_vector_of_points(), mrpt::tfest::se3_l2(), and mrpt::math::square().

TEST() [3/3]

TEST	(	tfest	,
		se3_l2_robust
	)

Definition at line 160 of file se3_unittest.cpp.

References generate_list_of_points(), generate_points(), mrpt::tfest::TSE3RobustResult::inliers_idx, mrpt::tfest::se3_l2_robust(), mrpt::math::square(), and mrpt::tfest::TSE3RobustResult::transformation.