LieTraits_unittest.cpp File Reference

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

Include dependency graph for LieTraits_unittest.cpp:

Go to the source code of this file.

Classes
class	SE_traits_tests< POSE_TYPE >
struct	SE_traits_tests< POSE_TYPE >::TParams
struct	SE_traits_tests< POSE_TYPE >::TParamsMat< MAT_LEN >

Typedefs
using	SE3_traits_tests = SE_traits_tests< mrpt::poses::CPose3D >
using	SE2_traits_tests = SE_traits_tests< mrpt::poses::CPose2D >

Functions
	TEST_F (SE3_traits_tests, SE3_jacobs_DinvP1InvP2)
	TEST_F (SE3_traits_tests, SE3_jacobs_dAB_dAB)
	TEST_F (SE2_traits_tests, SE2_jacobs_DinvP1InvP2)
	TEST_F (SE2_traits_tests, SE2_jacobs_dAB_dAB)

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

Typedef Documentation

SE2_traits_tests

using SE2_traits_tests = SE_traits_tests<mrpt::poses::CPose2D>

Definition at line 272 of file LieTraits_unittest.cpp.

SE3_traits_tests

using SE3_traits_tests = SE_traits_tests<mrpt::poses::CPose3D>

Definition at line 271 of file LieTraits_unittest.cpp.

Function Documentation

TEST_F() [1/4]

TEST_F	(	SE3_traits_tests	,
		SE3_jacobs_DinvP1InvP2
	)

Definition at line 274 of file LieTraits_unittest.cpp.

TEST_F() [2/4]

TEST_F	(	SE3_traits_tests	,
		SE3_jacobs_dAB_dAB
	)

Definition at line 275 of file LieTraits_unittest.cpp.

TEST_F() [3/4]

TEST_F	(	SE2_traits_tests	,
		SE2_jacobs_DinvP1InvP2
	)

Definition at line 277 of file LieTraits_unittest.cpp.

TEST_F() [4/4]

TEST_F	(	SE2_traits_tests	,
		SE2_jacobs_dAB_dAB
	)

Definition at line 278 of file LieTraits_unittest.cpp.

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},
    {-6.0, 2.0, 3.0, 40.0_deg, 20.0_deg, 15.0_deg},
    {1.0, 8.0, 0.0, -45.0_deg, 10.0_deg, 70.0_deg},
    {1.0, 2.0, 3.0, 89.0_deg, .5_deg, 1.0_deg},
    {1.0, -2.0, 0.4, -89.0_deg, .5_deg, 1.0_deg},
    {1.0, 2.0, 3.0, .1_deg, 89.0_deg, 1.0_deg},
    {1.0, -2.0, 0.4, .1_deg, -88.0_deg, 1.0_deg},
    {1.0, 2.0, 3.0, .1_deg, .9_deg, 178.0_deg},
    {1.0, -2.0, 0.4, .1_deg, .9_deg, -179.1_deg},
}

Definition at line 25 of file LieTraits_unittest.cpp.

Referenced by SE_traits_tests< POSE_TYPE >::tests_jacobs_dAB_dAB(), and SE_traits_tests< POSE_TYPE >::tests_jacobs_DinvP1InvP2().