KFSLAMApp_unittest.cpp File Reference

#include <gtest/gtest.h>
#include <mrpt/apps/KFSLAMApp.h>
#include <mrpt/system/filesystem.h>
#include <test_mrpt_common.h>
#include <functional>

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Typedefs
using	config_changer_t = std::function< void(mrpt::config::CConfigFileBase &)>

Functions
void	generic_kf_slam_test (const std::string &ini_filename, const std::string &rawlog_filename, config_changer_t cfg_changer)
	TEST (KFSLAMApp, EKF_SLAM_3D)
	TEST (KFSLAMApp, EKF_SLAM_2D)
	TEST (KFSLAMApp, EKF_SLAM_3D_data_assoc_JCBB_Maha)
	TEST (KFSLAMApp, EKF_SLAM_3D_data_assoc_NN_Maha)

Typedef Documentation

config_changer_t

using config_changer_t = std::function<void(mrpt::config::CConfigFileBase&)>

Definition at line 16 of file KFSLAMApp_unittest.cpp.

Function Documentation

generic_kf_slam_test()

void generic_kf_slam_test	(	const std::string &	ini_filename,
		const std::string &	rawlog_filename,
		config_changer_t	cfg_changer
	)

Definition at line 18 of file KFSLAMApp_unittest.cpp.

References argc, argv, mrpt::exception_to_str(), EXPECT_LT(), EXPECT_TRUE(), mrpt::system::fileExists(), mrpt::system::getTempFileName(), ini_fil, mrpt::apps::KFSLAMApp::initialize(), mrpt::apps::KFSLAMApp::loc_error_wrt_gt, mrpt::system::LVL_ERROR, mrpt::apps::KFSLAMApp::params, mrpt::apps::KFSLAMApp::run(), mrpt::system::COutputLogger::setMinLoggingLevel(), and mrpt::config::CConfigFileBase::write().

Referenced by TEST().

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TEST() [1/4]

TEST	(	KFSLAMApp	,
		EKF_SLAM_3D
	)

Definition at line 60 of file KFSLAMApp_unittest.cpp.

References generic_kf_slam_test(), and mrpt::config::CConfigFileBase::write().

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TEST() [2/4]

TEST	(	KFSLAMApp	,
		EKF_SLAM_2D
	)

Definition at line 71 of file KFSLAMApp_unittest.cpp.

References generic_kf_slam_test(), and mrpt::config::CConfigFileBase::write().

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TEST() [3/4]

TEST	(	KFSLAMApp	,
		EKF_SLAM_3D_data_assoc_JCBB_Maha
	)

Definition at line 82 of file KFSLAMApp_unittest.cpp.

References generic_kf_slam_test(), and mrpt::config::CConfigFileBase::write().

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TEST() [4/4]

TEST	(	KFSLAMApp	,
		EKF_SLAM_3D_data_assoc_NN_Maha
	)

Definition at line 96 of file KFSLAMApp_unittest.cpp.

References generic_kf_slam_test(), and mrpt::config::CConfigFileBase::write().

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