MRPT  2.0.0
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SE_traits_tests< POSE_TYPE > Class Template Reference

Detailed Description

template<class POSE_TYPE>
class SE_traits_tests< POSE_TYPE >

Definition at line 42 of file LieTraits_unittest.cpp.

Inheritance diagram for SE_traits_tests< POSE_TYPE >:

Classes

struct  TParams
 
struct  TParamsMat
 

Protected Types

using SE_TYPE = mrpt::poses::Lie::SE< POSE_TYPE::rotation_dimensions >
 

Protected Member Functions

void SetUp () override
 
void TearDown () override
 
void test_jacobs_DinvP1InvP2 (const CPose3D &P1_, const CPose3D &Pd_, const CPose3D &P2_)
 
void test_jacobs_AB (const CPose3D &A_, const CPose3D &B_)
 
void tests_jacobs_DinvP1InvP2 ()
 
void tests_jacobs_dAB_dAB ()
 

Static Protected Member Functions

static void func_numeric_DinvP1InvP2 (const CVectorFixedDouble< 2 *SE_TYPE::DOFs > &x, const TParams &params, CVectorFixedDouble< SE_TYPE::DOFs > &Y)
 
static void func_numeric_dAB_dA (const CVectorFixedDouble< SE_TYPE::MANIFOLD_DIM > &x, const TParamsMat< SE_TYPE::MANIFOLD_DIM > &params, CVectorFixedDouble< SE_TYPE::MANIFOLD_DIM > &Y)
 
static void func_numeric_dAB_dB (const CVectorFixedDouble< SE_TYPE::MANIFOLD_DIM > &x, const TParamsMat< SE_TYPE::MANIFOLD_DIM > &params, CVectorFixedDouble< SE_TYPE::MANIFOLD_DIM > &Y)
 

Member Typedef Documentation

◆ SE_TYPE

template<class POSE_TYPE >
using SE_traits_tests< POSE_TYPE >::SE_TYPE = mrpt::poses::Lie::SE<POSE_TYPE::rotation_dimensions>
protected

Definition at line 47 of file LieTraits_unittest.cpp.

Member Function Documentation

◆ func_numeric_dAB_dA()

template<class POSE_TYPE >
static void SE_traits_tests< POSE_TYPE >::func_numeric_dAB_dA ( const CVectorFixedDouble< SE_TYPE::MANIFOLD_DIM > &  x,
const TParamsMat< SE_TYPE::MANIFOLD_DIM > &  params,
CVectorFixedDouble< SE_TYPE::MANIFOLD_DIM > &  Y 
)
inlinestaticprotected

Definition at line 157 of file LieTraits_unittest.cpp.

References params.

◆ func_numeric_dAB_dB()

template<class POSE_TYPE >
static void SE_traits_tests< POSE_TYPE >::func_numeric_dAB_dB ( const CVectorFixedDouble< SE_TYPE::MANIFOLD_DIM > &  x,
const TParamsMat< SE_TYPE::MANIFOLD_DIM > &  params,
CVectorFixedDouble< SE_TYPE::MANIFOLD_DIM > &  Y 
)
inlinestaticprotected

Definition at line 167 of file LieTraits_unittest.cpp.

References params.

◆ func_numeric_DinvP1InvP2()

template<class POSE_TYPE >
static void SE_traits_tests< POSE_TYPE >::func_numeric_DinvP1InvP2 ( const CVectorFixedDouble< 2 *SE_TYPE::DOFs > &  x,
const TParams params,
CVectorFixedDouble< SE_TYPE::DOFs > &  Y 
)
inlinestaticprotected

Definition at line 60 of file LieTraits_unittest.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), and params.

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◆ SetUp()

template<class POSE_TYPE >
void SE_traits_tests< POSE_TYPE >::SetUp ( )
inlineoverrideprotected

Definition at line 45 of file LieTraits_unittest.cpp.

◆ TearDown()

template<class POSE_TYPE >
void SE_traits_tests< POSE_TYPE >::TearDown ( )
inlineoverrideprotected

Definition at line 46 of file LieTraits_unittest.cpp.

◆ test_jacobs_AB()

template<class POSE_TYPE >
void SE_traits_tests< POSE_TYPE >::test_jacobs_AB ( const CPose3D A_,
const CPose3D B_ 
)
inlineprotected

Definition at line 177 of file LieTraits_unittest.cpp.

References mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), and params.

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◆ test_jacobs_DinvP1InvP2()

template<class POSE_TYPE >
void SE_traits_tests< POSE_TYPE >::test_jacobs_DinvP1InvP2 ( const CPose3D P1_,
const CPose3D Pd_,
const CPose3D P2_ 
)
inlineprotected

Definition at line 91 of file LieTraits_unittest.cpp.

References mrpt::math::CMatrixDynamic< T >::asEigen(), mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), and params.

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◆ tests_jacobs_dAB_dAB()

template<class POSE_TYPE >
void SE_traits_tests< POSE_TYPE >::tests_jacobs_dAB_dAB ( )
inlineprotected

Definition at line 264 of file LieTraits_unittest.cpp.

References ptc.

◆ tests_jacobs_DinvP1InvP2()

template<class POSE_TYPE >
void SE_traits_tests< POSE_TYPE >::tests_jacobs_DinvP1InvP2 ( )
inlineprotected

Definition at line 257 of file LieTraits_unittest.cpp.

References ptc.




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