MRPT  1.9.9
Classes | Functions | Variables
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:

Go to the source code of this file.

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::CPose3Dptc
 

Function Documentation

◆ TEST_F() [1/19]

TEST_F ( Pose3DTests  ,
DefaultValues   
)

Definition at line 807 of file CPose3D_unittest.cpp.

◆ TEST_F() [2/19]

TEST_F ( Pose3DTests  ,
Initialization   
)

Definition at line 831 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 842 of file CPose3D_unittest.cpp.

References EXPECT_NEAR().

Here is the call graph for this function:

◆ TEST_F() [4/19]

TEST_F ( Pose3DTests  ,
InverseHM   
)

Definition at line 874 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [5/19]

TEST_F ( Pose3DTests  ,
Compose   
)

Definition at line 879 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [6/19]

TEST_F ( Pose3DTests  ,
composeFrom   
)

Definition at line 884 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [7/19]

TEST_F ( Pose3DTests  ,
ToFromCPose2D   
)

Definition at line 890 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [8/19]

TEST_F ( Pose3DTests  ,
ComposeAndInvComposeWithPoint   
)

Definition at line 895 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [9/19]

TEST_F ( Pose3DTests  ,
ComposePointJacob   
)

Definition at line 906 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [10/19]

TEST_F ( Pose3DTests  ,
ComposePointJacobApprox   
)

Definition at line 915 of file CPose3D_unittest.cpp.

◆ TEST_F() [11/19]

TEST_F ( Pose3DTests  ,
InvComposePointJacob   
)

Definition at line 931 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [12/19]

TEST_F ( Pose3DTests  ,
ComposePointJacob_se3   
)

Definition at line 942 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [13/19]

TEST_F ( Pose3DTests  ,
InvComposePointJacob_se3   
)

Definition at line 951 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [14/19]

TEST_F ( Pose3DTests  ,
ExpLnEqual   
)

Definition at line 961 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [15/19]

TEST_F ( Pose3DTests  ,
Jacob_dExpe_de_at_0   
)

Definition at line 966 of file CPose3D_unittest.cpp.

◆ TEST_F() [16/19]

TEST_F ( Pose3DTests  ,
Jacob_dLnT_dT   
)

Definition at line 967 of file CPose3D_unittest.cpp.

◆ TEST_F() [17/19]

TEST_F ( Pose3DTests  ,
Jacob_dexpeD_de   
)

Definition at line 979 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [18/19]

TEST_F ( Pose3DTests  ,
Jacob_dDexpe_de   
)

Definition at line 984 of file CPose3D_unittest.cpp.

References ptc.

◆ TEST_F() [19/19]

TEST_F ( Pose3DTests  ,
Jacob_dAexpeD_de   
)

Definition at line 989 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 855 of file CPose3D_unittest.cpp.

Referenced by TEST_F().




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