Pose3DQuatPDFGaussTests Class Reference

Detailed Description

Definition at line 27 of file CPose3DQuatPDFGaussian_unittest.cpp.

Inheritance diagram for Pose3DQuatPDFGaussTests:

Protected Member Functions
void	SetUp () override
void	TearDown () override
void	test_toFromYPRGauss (double yaw, double pitch, double roll)
void	testPoseComposition (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double std_scale2)
void	testCompositionJacobian (double x, double y, double z, double yaw, double pitch, double roll, double x2, double y2, double z2, double yaw2, double pitch2, double roll2)
void	testInverse (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
void	testPoseInverseComposition (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double std_scale2)
void	testChangeCoordsRef (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2)

Static Protected Member Functions
static CPose3DQuatPDFGaussian	generateRandomPoseQuat3DPDF (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
static CPose3DPDFGaussian	generateRandomPose3DPDF (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
static void	func_compose (const CVectorFixedDouble< 2 *7 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 7 > &Y)
static void	func_inv_compose (const CVectorFixedDouble< 2 *7 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 7 > &Y)
static void	func_inverse (const CVectorFixedDouble< 7 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 7 > &Y)

Member Function Documentation

func_compose()

static void Pose3DQuatPDFGaussTests::func_compose ( const CVectorFixedDouble< 2 *7 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 7 > &  Y  )

inlinestaticprotected

Definition at line 73 of file CPose3DQuatPDFGaussian_unittest.cpp.

func_inv_compose()

static void Pose3DQuatPDFGaussTests::func_inv_compose ( const CVectorFixedDouble< 2 *7 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 7 > &  Y  )

inlinestaticprotected

Definition at line 86 of file CPose3DQuatPDFGaussian_unittest.cpp.

func_inverse()

static void Pose3DQuatPDFGaussTests::func_inverse ( const CVectorFixedDouble< 7 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 7 > &  Y  )

inlinestaticprotected

Definition at line 139 of file CPose3DQuatPDFGaussian_unittest.cpp.

generateRandomPose3DPDF()

static CPose3DPDFGaussian Pose3DQuatPDFGaussTests::generateRandomPose3DPDF ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale  )

inlinestaticprotected

Definition at line 40 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::math::cov(), mrpt::random::CRandomGenerator::drawGaussian1DMatrix(), mrpt::random::getRandomGenerator(), mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AAt(), mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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generateRandomPoseQuat3DPDF()

static CPose3DQuatPDFGaussian Pose3DQuatPDFGaussTests::generateRandomPoseQuat3DPDF ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale  )

inlinestaticprotected

Definition at line 32 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

SetUp()

void Pose3DQuatPDFGaussTests::SetUp ( )

inlineoverrideprotected

Definition at line 30 of file CPose3DQuatPDFGaussian_unittest.cpp.

TearDown()

void Pose3DQuatPDFGaussTests::TearDown ( )

inlineoverrideprotected

Definition at line 31 of file CPose3DQuatPDFGaussian_unittest.cpp.

test_toFromYPRGauss()

void Pose3DQuatPDFGaussTests::test_toFromYPRGauss ( double  yaw, double  pitch, double  roll  )

inlineprotected

Definition at line 54 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DPDFGaussian::cov, EXPECT_NEAR(), mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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testChangeCoordsRef()

void Pose3DQuatPDFGaussTests::testChangeCoordsRef ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale, double  x2, double  y2, double  z2, double  yaw2, double  pitch2, double  roll2  )

inlineprotected

Definition at line 288 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DQuatPDFGaussian::cov, EXPECT_NEAR(), mrpt::poses::CPose3DQuatPDFGaussian::mean, mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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testCompositionJacobian()

void Pose3DQuatPDFGaussTests::testCompositionJacobian ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  x2, double  y2, double  z2, double  yaw2, double  pitch2, double  roll2  )

inlineprotected

Definition at line 149 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, mrpt::math::sum(), and mrpt::math::UNINITIALIZED_MATRIX.

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testInverse()

void Pose3DQuatPDFGaussTests::testInverse ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale  )

inlineprotected

Definition at line 210 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DQuatPDFGaussian::cov, EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::math::MatrixBase< Scalar, Derived >::insertMatrix(), mrpt::poses::CPose3DQuatPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and mrpt::math::transform_gaussian_linear().

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testPoseComposition()

void Pose3DQuatPDFGaussTests::testPoseComposition ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale, double  x2, double  y2, double  z2, double  yaw2, double  pitch2, double  roll2, double  std_scale2  )

inlineprotected

Definition at line 99 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DQuatPDFGaussian::cov, EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), for(), mrpt::math::MatrixBase< Scalar, Derived >::insertMatrix(), mrpt::poses::CPose3DQuatPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and mrpt::math::transform_gaussian_linear().

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testPoseInverseComposition()

void Pose3DQuatPDFGaussTests::testPoseInverseComposition ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale, double  x2, double  y2, double  z2, double  yaw2, double  pitch2, double  roll2, double  std_scale2  )

inlineprotected

Definition at line 248 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DQuatPDFGaussian::cov, EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), for(), mrpt::math::MatrixBase< Scalar, Derived >::insertMatrix(), mrpt::poses::CPose3DQuatPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and mrpt::math::transform_gaussian_linear().

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