MRPT  2.0.1
Functions
SO_SE_average_unittest.cpp File Reference
#include <gtest/gtest.h>
#include <mrpt/math/wrap2pi.h>
#include <mrpt/poses/SO_SE_average.h>
#include <Eigen/Dense>
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Functions

void run_test_so2_avrg (const double *angs, const size_t N, const double ang_correct_avr)
 
 TEST (SE2_SE3_avrg, SO2_average)
 
void run_test_so3_avrg (const double *angs, const size_t N, const mrpt::math::CMatrixDouble33 &correct_avr)
 
 TEST (SE2_SE3_avrg, SO3_average)
 

Function Documentation

◆ run_test_so2_avrg()

void run_test_so2_avrg ( const double *  angs,
const size_t  N,
const double  ang_correct_avr 
)

Definition at line 20 of file SO_SE_average_unittest.cpp.

References mrpt::poses::SO_average< 2 >::append(), EXPECT_NEAR(), mrpt::poses::SO_average< 2 >::get_average(), and mrpt::math::wrapToPi().

Referenced by TEST().

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◆ run_test_so3_avrg()

void run_test_so3_avrg ( const double *  angs,
const size_t  N,
const mrpt::math::CMatrixDouble33 correct_avr 
)

Definition at line 73 of file SO_SE_average_unittest.cpp.

References mrpt::poses::SO_average< 3 >::append(), EXPECT_NEAR(), mrpt::poses::SO_average< 3 >::get_average(), mrpt::poses::CPose3D::getRotationMatrix(), and mrpt::math::sum().

Referenced by TEST().

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◆ TEST() [1/2]

TEST ( SE2_SE3_avrg  ,
SO2_average   
)

Definition at line 29 of file SO_SE_average_unittest.cpp.

References M_PI, and run_test_so2_avrg().

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◆ TEST() [2/2]

TEST ( SE2_SE3_avrg  ,
SO3_average   
)

Definition at line 88 of file SO_SE_average_unittest.cpp.

References mrpt::poses::CPose3D::getRotationMatrix(), M_PI, and run_test_so3_avrg().

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