MRPT  2.0.4
List of all members | Protected Member Functions | Static Protected Member Functions
Pose3DQuatPDFGaussTests Class Reference

Detailed Description

Definition at line 27 of file CPose3DQuatPDFGaussian_unittest.cpp.

Inheritance diagram for Pose3DQuatPDFGaussTests:

Protected Member Functions

void SetUp () override
 
void TearDown () override
 
void test_toFromYPRGauss (double yaw, double pitch, double roll)
 
void testPoseComposition (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double std_scale2)
 
void testCompositionJacobian (double x, double y, double z, double yaw, double pitch, double roll, double x2, double y2, double z2, double yaw2, double pitch2, double roll2)
 
void testInverse (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
 
void testPoseInverseComposition (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double std_scale2)
 
void testChangeCoordsRef (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2)
 

Static Protected Member Functions

static CPose3DQuatPDFGaussian generateRandomPoseQuat3DPDF (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
 
static CPose3DPDFGaussian generateRandomPose3DPDF (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
 
static void func_compose (const CVectorFixedDouble< 2 *7 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 7 > &Y)
 
static void func_inv_compose (const CVectorFixedDouble< 2 *7 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 7 > &Y)
 
static void func_inverse (const CVectorFixedDouble< 7 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 7 > &Y)
 

Member Function Documentation

◆ func_compose()

static void Pose3DQuatPDFGaussTests::func_compose ( const CVectorFixedDouble< 2 *7 > &  x,
[[maybe_unused] ] const double &  dummy,
CVectorFixedDouble< 7 > &  Y 
)
inlinestaticprotected

Definition at line 73 of file CPose3DQuatPDFGaussian_unittest.cpp.

◆ func_inv_compose()

static void Pose3DQuatPDFGaussTests::func_inv_compose ( const CVectorFixedDouble< 2 *7 > &  x,
[[maybe_unused] ] const double &  dummy,
CVectorFixedDouble< 7 > &  Y 
)
inlinestaticprotected

Definition at line 86 of file CPose3DQuatPDFGaussian_unittest.cpp.

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

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◆ func_inverse()

static void Pose3DQuatPDFGaussTests::func_inverse ( const CVectorFixedDouble< 7 > &  x,
[[maybe_unused] ] const double &  dummy,
CVectorFixedDouble< 7 > &  Y 
)
inlinestaticprotected

Definition at line 140 of file CPose3DQuatPDFGaussian_unittest.cpp.

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

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◆ generateRandomPose3DPDF()

static CPose3DPDFGaussian Pose3DQuatPDFGaussTests::generateRandomPose3DPDF ( double  x,
double  y,
double  z,
double  yaw,
double  pitch,
double  roll,
double  std_scale 
)
inlinestaticprotected

Definition at line 40 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::math::cov(), mrpt::random::CRandomGenerator::drawGaussian1DMatrix(), mrpt::random::getRandomGenerator(), mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AAt(), mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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◆ generateRandomPoseQuat3DPDF()

static CPose3DQuatPDFGaussian Pose3DQuatPDFGaussTests::generateRandomPoseQuat3DPDF ( double  x,
double  y,
double  z,
double  yaw,
double  pitch,
double  roll,
double  std_scale 
)
inlinestaticprotected

◆ SetUp()

void Pose3DQuatPDFGaussTests::SetUp ( )
inlineoverrideprotected

Definition at line 30 of file CPose3DQuatPDFGaussian_unittest.cpp.

◆ TearDown()

void Pose3DQuatPDFGaussTests::TearDown ( )
inlineoverrideprotected

Definition at line 31 of file CPose3DQuatPDFGaussian_unittest.cpp.

◆ test_toFromYPRGauss()

void Pose3DQuatPDFGaussTests::test_toFromYPRGauss ( double  yaw,
double  pitch,
double  roll 
)
inlineprotected

Definition at line 54 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DPDFGaussian::cov, EXPECT_NEAR(), mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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◆ testChangeCoordsRef()

void Pose3DQuatPDFGaussTests::testChangeCoordsRef ( double  x,
double  y,
double  z,
double  yaw,
double  pitch,
double  roll,
double  std_scale,
double  x2,
double  y2,
double  z2,
double  yaw2,
double  pitch2,
double  roll2 
)
inlineprotected

Definition at line 290 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DQuatPDFGaussian::cov, EXPECT_NEAR(), mrpt::poses::CPose3DQuatPDFGaussian::mean, mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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◆ testCompositionJacobian()

void Pose3DQuatPDFGaussTests::testCompositionJacobian ( double  x,
double  y,
double  z,
double  yaw,
double  pitch,
double  roll,
double  x2,
double  y2,
double  z2,
double  yaw2,
double  pitch2,
double  roll2 
)
inlineprotected

◆ testInverse()

void Pose3DQuatPDFGaussTests::testInverse ( double  x,
double  y,
double  z,
double  yaw,
double  pitch,
double  roll,
double  std_scale 
)
inlineprotected

◆ testPoseComposition()

void Pose3DQuatPDFGaussTests::testPoseComposition ( double  x,
double  y,
double  z,
double  yaw,
double  pitch,
double  roll,
double  std_scale,
double  x2,
double  y2,
double  z2,
double  yaw2,
double  pitch2,
double  roll2,
double  std_scale2 
)
inlineprotected

◆ testPoseInverseComposition()

void Pose3DQuatPDFGaussTests::testPoseInverseComposition ( double  x,
double  y,
double  z,
double  yaw,
double  pitch,
double  roll,
double  std_scale,
double  x2,
double  y2,
double  z2,
double  yaw2,
double  pitch2,
double  roll2,
double  std_scale2 
)
inlineprotected



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