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.