CICP_unittest.cpp File Reference

#include <gtest/gtest.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/obs/stock_observations.h>
#include <mrpt/opengl/CAngularObservationMesh.h>
#include <mrpt/opengl/CDisk.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/opengl/stock_objects.h>
#include <mrpt/poses/CPose3DPDF.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/slam/CICP.h>
#include <Eigen/Dense>

Include dependency graph for CICP_unittest.cpp:

Go to the source code of this file.

Classes
class	ICPTests

Functions
	TEST_F (ICPTests, AlignScans_icpClassic)
	TEST_F (ICPTests, AlignScans_icpLevenbergMarquardt)
	TEST_F (ICPTests, RayTracingICP3D)

Function Documentation

TEST_F() [1/3]

TEST_F	(	ICPTests	,
		AlignScans_icpClassic
	)

Definition at line 99 of file CICP_unittest.cpp.

References mrpt::slam::icpClassic.

TEST_F() [2/3]

TEST_F	(	ICPTests	,
		AlignScans_icpLevenbergMarquardt
	)

Definition at line 100 of file CICP_unittest.cpp.

References mrpt::slam::icpLevenbergMarquardt.

TEST_F() [3/3]

TEST_F	(	ICPTests	,
		RayTracingICP3D
	)

Definition at line 106 of file CICP_unittest.cpp.

References mrpt::slam::CMetricMapsAlignmentAlgorithm::Align3D(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::maps::CPointsMap::changeCoordinatesReference(), mrpt::maps::CPointsMap::TRenderOptions::color, mrpt::opengl::stock_objects::CornerXYZ(), EXPECT_NEAR(), generateObjects(), mrpt::maps::CPointsMap::getAs3DObject(), HOW_MANY_PITCHS, HOW_MANY_YAWS, M_PI, mrpt::math::mean(), mrpt::slam::CICP::options, mrpt::maps::CPointsMap::renderOptions, SCAN2_POSE_ERROR, mrpt::slam::CICP::TConfigParams::thresholdAng, mrpt::slam::CICP::TConfigParams::thresholdDist, viewpoint1, and viewpoint2.

Here is the call graph for this function: