MRPT  2.0.0
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Pose3DQuatTests Class Reference

Detailed Description

Definition at line 25 of file CPose3DQuat_unittest.cpp.

Inheritance diagram for Pose3DQuatTests:

Protected Member Functions

void SetUp () override
 
void TearDown () override
 
void test_compose (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x2, double y2, double z2, double yaw2, double pitch2, double roll2)
 
void test_composePoint (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z)
 
void test_composePointJacob (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z)
 
void test_invComposePoint (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z)
 
void test_invComposePointJacob (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z)
 
void test_fromYPRAndBack (double x1, double y1, double z1, double yaw1, double pitch1, double roll1)
 
void test_unaryInverse (double x1, double y1, double z1, double yaw1, double pitch1, double roll1)
 
void test_copy (double x1, double y1, double z1, double yaw1, double pitch1, double roll1)
 
void test_composeAndInvComposePoint (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z)
 
void test_composePoint_vs_CPose3D (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z)
 
void test_invComposePoint_vs_CPose3D (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z)
 
void test_sphericalCoords (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z)
 
void test_normalizeJacob (double yaw1, double pitch1, double roll1)
 

Static Protected Member Functions

static void func_compose_point (const CVectorFixedDouble< 7+3 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 3 > &Y)
 
static void func_inv_compose_point (const CVectorFixedDouble< 7+3 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 3 > &Y)
 
static void func_spherical_coords (const CVectorFixedDouble< 7+3 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 3 > &Y)
 
static void func_normalizeJacob (const CVectorFixedDouble< 4 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 4 > &Y)
 

Member Function Documentation

◆ func_compose_point()

static void Pose3DQuatTests::func_compose_point ( const CVectorFixedDouble< 7+3 > &  x,
[[maybe_unused] ] const double &  dummy,
CVectorFixedDouble< 3 > &  Y 
)
inlinestaticprotected

Definition at line 124 of file CPose3DQuat_unittest.cpp.

References mrpt::math::CQuaternion< T >::normalize(), and mrpt::poses::CPose3DQuat::quat().

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◆ func_inv_compose_point()

static void Pose3DQuatTests::func_inv_compose_point ( const CVectorFixedDouble< 7+3 > &  x,
[[maybe_unused] ] const double &  dummy,
CVectorFixedDouble< 3 > &  Y 
)
inlinestaticprotected

Definition at line 232 of file CPose3DQuat_unittest.cpp.

References mrpt::math::CQuaternion< T >::normalize(), mrpt::poses::CPose3DQuat::quat(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ func_normalizeJacob()

static void Pose3DQuatTests::func_normalizeJacob ( const CVectorFixedDouble< 4 > &  x,
[[maybe_unused] ] const double &  dummy,
CVectorFixedDouble< 4 > &  Y 
)
inlinestaticprotected

Definition at line 555 of file CPose3DQuat_unittest.cpp.

References mrpt::math::CQuaternion< T >::normalize().

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◆ func_spherical_coords()

static void Pose3DQuatTests::func_spherical_coords ( const CVectorFixedDouble< 7+3 > &  x,
[[maybe_unused] ] const double &  dummy,
CVectorFixedDouble< 3 > &  Y 
)
inlinestaticprotected

Definition at line 478 of file CPose3DQuat_unittest.cpp.

References mrpt::math::CQuaternion< T >::normalize(), mrpt::poses::CPose3DQuat::quat(), and mrpt::poses::CPose3DQuat::sphericalCoordinates().

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◆ SetUp()

void Pose3DQuatTests::SetUp ( )
inlineoverrideprotected

Definition at line 28 of file CPose3DQuat_unittest.cpp.

◆ TearDown()

void Pose3DQuatTests::TearDown ( )
inlineoverrideprotected

Definition at line 29 of file CPose3DQuat_unittest.cpp.

◆ test_compose()

void Pose3DQuatTests::test_compose ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1,
double  x2,
double  y2,
double  z2,
double  yaw2,
double  pitch2,
double  roll2 
)
inlineprotected

Definition at line 30 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), and EXPECT_NEAR().

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◆ test_composeAndInvComposePoint()

void Pose3DQuatTests::test_composeAndInvComposePoint ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1,
double  x,
double  y,
double  z 
)
inlineprotected

Definition at line 415 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPose3DQuat::composePoint(), EXPECT_NEAR(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ test_composePoint()

void Pose3DQuatTests::test_composePoint ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1,
double  x,
double  y,
double  z 
)
inlineprotected

Definition at line 99 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), and EXPECT_NEAR().

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◆ test_composePoint_vs_CPose3D()

void Pose3DQuatTests::test_composePoint_vs_CPose3D ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1,
double  x,
double  y,
double  z 
)
inlineprotected

Definition at line 429 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPose3DQuat::composePoint(), mrpt::poses::CPose3D::composePoint(), EXPECT_NEAR(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ test_composePointJacob()

void Pose3DQuatTests::test_composePointJacob ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1,
double  x,
double  y,
double  z 
)
inlineprotected

◆ test_copy()

void Pose3DQuatTests::test_copy ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1 
)
inlineprotected

Definition at line 392 of file CPose3DQuat_unittest.cpp.

References EXPECT_NEAR(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal().

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◆ test_fromYPRAndBack()

void Pose3DQuatTests::test_fromYPRAndBack ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1 
)
inlineprotected

Definition at line 340 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), EXPECT_NEAR(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal().

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◆ test_invComposePoint()

void Pose3DQuatTests::test_invComposePoint ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1,
double  x,
double  y,
double  z 
)
inlineprotected

Definition at line 202 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), and EXPECT_NEAR().

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◆ test_invComposePoint_vs_CPose3D()

void Pose3DQuatTests::test_invComposePoint_vs_CPose3D ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1,
double  x,
double  y,
double  z 
)
inlineprotected

Definition at line 444 of file CPose3DQuat_unittest.cpp.

References EXPECT_NEAR(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3D::sphericalCoordinates(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ test_invComposePointJacob()

void Pose3DQuatTests::test_invComposePointJacob ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1,
double  x,
double  y,
double  z 
)
inlineprotected

◆ test_normalizeJacob()

void Pose3DQuatTests::test_normalizeJacob ( double  yaw1,
double  pitch1,
double  roll1 
)
inlineprotected

◆ test_sphericalCoords()

void Pose3DQuatTests::test_sphericalCoords ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1,
double  x,
double  y,
double  z 
)
inlineprotected

◆ test_unaryInverse()

void Pose3DQuatTests::test_unaryInverse ( double  x1,
double  y1,
double  z1,
double  yaw1,
double  pitch1,
double  roll1 
)
inlineprotected

Definition at line 368 of file CPose3DQuat_unittest.cpp.

References EXPECT_NEAR(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal().

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