Detailed Description

Definition at line 26 of file CPose3DPDFGaussian_unittest.cpp.

Inheritance diagram for Pose3DPDFGaussTests:

Protected Member Functions
virtual void	SetUp ()

virtual void	TearDown ()

void	testToQuatPDFAndBack (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)

void	testPoseComposition (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double std_scale2)

void	testCompositionJacobian (double x, double y, double z, double yaw, double pitch, double roll, double x2, double y2, double z2, double yaw2, double pitch2, double roll2)

void	testPoseInverseComposition (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double std_scale2)

void	testPoseInverse (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)

void	testAllPoseOperators (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double std_scale2)

void	testChangeCoordsRef (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2)

Static Protected Member Functions
static CPose3DPDFGaussian	generateRandomPose3DPDF (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)

static void	func_compose (const CArrayDouble< 12 > &x, const double &dummy, CArrayDouble< 6 > &Y)

static void	func_inv_compose (const CArrayDouble< 2 *6 > &x, const double &dummy, CArrayDouble< 6 > &Y)

Member Function Documentation

◆ func_compose()

static void Pose3DPDFGaussTests::func_compose	(	const CArrayDouble< 12 > &	x,
		const double &	dummy,
		CArrayDouble< 6 > &	Y
	)

inlinestaticprotected

Definition at line 64 of file CPose3DPDFGaussian_unittest.cpp.

References MRPT_UNUSED_PARAM.

◆ func_inv_compose()

static void Pose3DPDFGaussTests::func_inv_compose	(	const CArrayDouble< 2 *6 > &	x,
		const double &	dummy,
		CArrayDouble< 6 > &	Y
	)

inlinestaticprotected

Definition at line 73 of file CPose3DPDFGaussian_unittest.cpp.

References MRPT_UNUSED_PARAM.

◆ generateRandomPose3DPDF()

static CPose3DPDFGaussian Pose3DPDFGaussTests::generateRandomPose3DPDF	(	double	x,
		double	y,
		double	z,
		double	yaw,
		double	pitch,
		double	roll,
		double	std_scale
	)

inlinestaticprotected

Definition at line 35 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::math::cov(), mrpt::random::CRandomGenerator::drawGaussian1DMatrix(), mrpt::obs::gnss::pitch, mrpt::random::randomGenerator, and mrpt::obs::gnss::roll.

◆ SetUp()

virtual void Pose3DPDFGaussTests::SetUp ( )

inlineprotectedvirtual

Definition at line 28 of file CPose3DPDFGaussian_unittest.cpp.

◆ TearDown()

virtual void Pose3DPDFGaussTests::TearDown ( )

inlineprotectedvirtual

Definition at line 32 of file CPose3DPDFGaussian_unittest.cpp.

◆ testAllPoseOperators()

void Pose3DPDFGaussTests::testAllPoseOperators	(	double	x,
		double	y,
		double	z,
		double	yaw,
		double	pitch,
		double	roll,
		double	std_scale,
		double	x2,
		double	y2,
		double	z2,
		double	yaw2,
		double	pitch2,
		double	roll2,
		double	std_scale2
	)

inlineprotected

Definition at line 278 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

◆ testChangeCoordsRef()

void Pose3DPDFGaussTests::testChangeCoordsRef	(	double	x,
		double	y,
		double	z,
		double	yaw,
		double	pitch,
		double	roll,
		double	std_scale,
		double	x2,
		double	y2,
		double	z2,
		double	yaw2,
		double	pitch2,
		double	roll2
	)

inlineprotected

Definition at line 291 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

◆ testCompositionJacobian()

void Pose3DPDFGaussTests::testCompositionJacobian	(	double	x,
		double	y,
		double	z,
		double	yaw,
		double	pitch,
		double	roll,
		double	x2,
		double	y2,
		double	z2,
		double	yaw2,
		double	pitch2,
		double	roll2
	)

inlineprotected

Definition at line 136 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::math::jacobians::jacob_numeric_estimate(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, mrpt::math::sum(), and mrpt::math::UNINITIALIZED_MATRIX.

◆ testPoseComposition()

void Pose3DPDFGaussTests::testPoseComposition	(	double	x,
		double	y,
		double	z,
		double	yaw,
		double	pitch,
		double	roll,
		double	std_scale,
		double	x2,
		double	y2,
		double	z2,
		double	yaw2,
		double	pitch2,
		double	roll2,
		double	std_scale2
	)

inlineprotected

Definition at line 83 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and mrpt::math::transform_gaussian_linear().

◆ testPoseInverse()

void Pose3DPDFGaussTests::testPoseInverse	(	double	x,
		double	y,
		double	z,
		double	yaw,
		double	pitch,
		double	roll,
		double	std_scale
	)

inlineprotected

Definition at line 239 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), mrpt::poses::CPose3DPDFGaussian::inverse(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

◆ testPoseInverseComposition()

void Pose3DPDFGaussTests::testPoseInverseComposition	(	double	x,
		double	y,
		double	z,
		double	yaw,
		double	pitch,
		double	roll,
		double	std_scale,
		double	x2,
		double	y2,
		double	z2,
		double	yaw2,
		double	pitch2,
		double	roll2,
		double	std_scale2
	)