CPose3D_unittest.cpp File Reference

#include <CTraitsTest.h>
#include <gtest/gtest.h>
#include <mrpt/math/num_jacobian.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/Lie/SE.h>
#include <Eigen/Dense>

Include dependency graph for CPose3D_unittest.cpp:

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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_dDexpe_de)
	TEST_F (Pose3DTests, Jacob_dAexpeD_de)

Variables
static const std::vector< mrpt::poses::CPose3D >	ptc

Function Documentation

TEST_F() [1/19]

TEST_F	(	Pose3DTests	,
		DefaultValues
	)

Definition at line 811 of file CPose3D_unittest.cpp.

TEST_F() [2/19]

TEST_F	(	Pose3DTests	,
		Initialization
	)

Definition at line 835 of file CPose3D_unittest.cpp.

References EXPECT_NEAR(), mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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TEST_F() [3/19]

TEST_F	(	Pose3DTests	,
		OperatorBracket
	)

Definition at line 846 of file CPose3D_unittest.cpp.

References EXPECT_NEAR().

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TEST_F() [4/19]

TEST_F	(	Pose3DTests	,
		InverseHM
	)

Definition at line 878 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [5/19]

TEST_F	(	Pose3DTests	,
		Compose
	)

Definition at line 883 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [6/19]

TEST_F	(	Pose3DTests	,
		composeFrom
	)

Definition at line 888 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [7/19]

TEST_F	(	Pose3DTests	,
		ToFromCPose2D
	)

Definition at line 894 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [8/19]

TEST_F	(	Pose3DTests	,
		ComposeAndInvComposeWithPoint
	)

Definition at line 899 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [9/19]

TEST_F	(	Pose3DTests	,
		ComposePointJacob
	)

Definition at line 910 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [10/19]

TEST_F	(	Pose3DTests	,
		ComposePointJacobApprox
	)

Definition at line 919 of file CPose3D_unittest.cpp.

TEST_F() [11/19]

TEST_F	(	Pose3DTests	,
		InvComposePointJacob
	)

Definition at line 935 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [12/19]

TEST_F	(	Pose3DTests	,
		ComposePointJacob_se3
	)

Definition at line 946 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [13/19]

TEST_F	(	Pose3DTests	,
		InvComposePointJacob_se3
	)

Definition at line 955 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [14/19]

TEST_F	(	Pose3DTests	,
		ExpLnEqual
	)

Definition at line 965 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [15/19]

TEST_F	(	Pose3DTests	,
		Jacob_dExpe_de_at_0
	)

Definition at line 970 of file CPose3D_unittest.cpp.

TEST_F() [16/19]

TEST_F	(	Pose3DTests	,
		Jacob_dLnT_dT
	)

Definition at line 971 of file CPose3D_unittest.cpp.

TEST_F() [17/19]

TEST_F	(	Pose3DTests	,
		Jacob_dexpeD_de
	)

Definition at line 983 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [18/19]

TEST_F	(	Pose3DTests	,
		Jacob_dDexpe_de
	)

Definition at line 988 of file CPose3D_unittest.cpp.

References ptc.

TEST_F() [19/19]

TEST_F	(	Pose3DTests	,
		Jacob_dAexpeD_de
	)

Definition at line 993 of file CPose3D_unittest.cpp.

References ptc.

Variable Documentation

ptc

const std::vector<mrpt::poses::CPose3D> ptc

static

Initial value:

= {
    {.0, .0, .0, .0_deg, .0_deg, .0_deg},
    {1.0, 2.0, 3.0, .0_deg, .0_deg, .0_deg},
    {1.0, 2.0, 3.0, 10.0_deg, .0_deg, .0_deg},
    {1.0, 2.0, 3.0, .0_deg, 1.0_deg, .0_deg},
    {1.0, 2.0, 3.0, .0_deg, .0_deg, 1.0_deg},
    {1.0, 2.0, 3.0, 80.0_deg, 5.0_deg, 5.0_deg},
    {1.0, 2.0, 3.0, -20.0_deg, -30.0_deg, -40.0_deg},
    {1.0, 2.0, 3.0, -45.0_deg, 10.0_deg, 70.0_deg},
    {1.0, 2.0, 3.0, 40.0_deg, -5.0_deg, 25.0_deg},
    {1.0, 2.0, 3.0, 40.0_deg, 20.0_deg, -15.0_deg},
    {-6.0, 2.0, 3.0, 40.0_deg, 20.0_deg, 15.0_deg},
    {6.0, -5.0, 3.0, 40.0_deg, 20.0_deg, 15.0_deg},
    {6.0, 2.0, -9.0, 40.0_deg, 20.0_deg, 15.0_deg},
    {0.0, 8.0, 5.0, -45.0_deg, 10.0_deg, 70.0_deg},
    {1.0, 0.0, 5.0, -45.0_deg, 10.0_deg, 70.0_deg},
    {1.0, 8.0, 0.0, -45.0_deg, 10.0_deg, 70.0_deg}}

Definition at line 859 of file CPose3D_unittest.cpp.

Referenced by TEST_F().