CPose3DQuat_unittest.cpp File Reference

#include <CTraitsTest.h>
#include <gtest/gtest.h>
#include <mrpt/math/num_jacobian.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DQuat.h>
#include <mrpt/random.h>
#include <Eigen/Dense>

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Classes
class	Pose3DQuatTests

Functions
static void	quat_vs_YPR (double yaw, double pitch, double roll, double qx, double qy, double qz, double qw, const std::string &sRotMat)
	TEST (QuatTests, Quat_vs_YPR)
	TEST_F (Pose3DQuatTests, FromYPRAndBack)
	TEST_F (Pose3DQuatTests, UnaryInverse)
	TEST_F (Pose3DQuatTests, CopyOperator)
	TEST_F (Pose3DQuatTests, Compose)
	TEST_F (Pose3DQuatTests, ComposeWithPoint)
	TEST_F (Pose3DQuatTests, ComposeWithPointJacob)
	TEST_F (Pose3DQuatTests, InvComposeWithPoint)
	TEST_F (Pose3DQuatTests, InvComposeWithPointJacob)
	TEST_F (Pose3DQuatTests, ComposeInvComposePoint)
	TEST_F (Pose3DQuatTests, ComposePoint_vs_CPose3D)
	TEST_F (Pose3DQuatTests, InvComposePoint_vs_CPose3D)
	TEST_F (Pose3DQuatTests, SphericalCoordsJacobian)
	TEST_F (Pose3DQuatTests, NormalizationJacobian)

Function Documentation

quat_vs_YPR()

static void quat_vs_YPR ( double  yaw, double  pitch, double  roll, double  qx, double  qy, double  qz, double  qw, const std::string &  sRotMat  )

static

Definition at line 610 of file CPose3DQuat_unittest.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::MatrixVectorBase< Scalar, Derived >::asString(), mrpt::math::CMatrixFixed< T, ROWS, COLS >::cols(), eps, EXPECT_EQ(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::poses::CPose3D::getRotationMatrix(), mrpt::obs::gnss::pitch, R, mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rotationMatrix(), mrpt::math::CMatrixFixed< T, ROWS, COLS >::rows(), mrpt::math::CQuaternion< T >::w(), mrpt::math::CQuaternion< T >::x(), mrpt::math::CQuaternion< T >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by TEST().

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TEST()

TEST	(	QuatTests	,
		Quat_vs_YPR
	)

Definition at line 662 of file CPose3DQuat_unittest.cpp.

References quat_vs_YPR().

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TEST_F() [1/13]

TEST_F	(	Pose3DQuatTests	,
		FromYPRAndBack
	)

Definition at line 700 of file CPose3DQuat_unittest.cpp.

TEST_F() [2/13]

TEST_F	(	Pose3DQuatTests	,
		UnaryInverse
	)

Definition at line 711 of file CPose3DQuat_unittest.cpp.

TEST_F() [3/13]

TEST_F	(	Pose3DQuatTests	,
		CopyOperator
	)

Definition at line 722 of file CPose3DQuat_unittest.cpp.

TEST_F() [4/13]

TEST_F	(	Pose3DQuatTests	,
		Compose
	)

Definition at line 730 of file CPose3DQuat_unittest.cpp.

TEST_F() [5/13]

TEST_F	(	Pose3DQuatTests	,
		ComposeWithPoint
	)

Definition at line 741 of file CPose3DQuat_unittest.cpp.

TEST_F() [6/13]

TEST_F	(	Pose3DQuatTests	,
		ComposeWithPointJacob
	)

Definition at line 753 of file CPose3DQuat_unittest.cpp.

TEST_F() [7/13]

TEST_F	(	Pose3DQuatTests	,
		InvComposeWithPoint
	)

Definition at line 769 of file CPose3DQuat_unittest.cpp.

TEST_F() [8/13]

TEST_F	(	Pose3DQuatTests	,
		InvComposeWithPointJacob
	)

Definition at line 781 of file CPose3DQuat_unittest.cpp.

TEST_F() [9/13]

TEST_F	(	Pose3DQuatTests	,
		ComposeInvComposePoint
	)

Definition at line 801 of file CPose3DQuat_unittest.cpp.

TEST_F() [10/13]

TEST_F	(	Pose3DQuatTests	,
		ComposePoint_vs_CPose3D
	)

Definition at line 817 of file CPose3DQuat_unittest.cpp.

TEST_F() [11/13]

TEST_F	(	Pose3DQuatTests	,
		InvComposePoint_vs_CPose3D
	)

Definition at line 833 of file CPose3DQuat_unittest.cpp.

References mrpt::random::CRandomGenerator::drawGaussian1DVector(), and mrpt::random::getRandomGenerator().

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TEST_F() [12/13]

TEST_F	(	Pose3DQuatTests	,
		SphericalCoordsJacobian
	)

Definition at line 853 of file CPose3DQuat_unittest.cpp.

TEST_F() [13/13]

TEST_F	(	Pose3DQuatTests	,
		NormalizationJacobian
	)

Definition at line 865 of file CPose3DQuat_unittest.cpp.