MRPT  2.0.4
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Pose3DTests Class Reference

Detailed Description

Definition at line 26 of file CPose3D_unittest.cpp.

Inheritance diagram for Pose3DTests:

Classes

struct  TParams_func_jacob_Aexpe_D
 

Protected Member Functions

void SetUp () override
 
void TearDown () override
 
void test_inverse (const CPose3D &p1)
 
void test_compose (const CPose3D &p1, const CPose3D &p2)
 
void test_to_from_2d (double x, double y, double phi)
 
void test_composeFrom (const CPose3D &p1, const CPose3D &p2)
 
void test_composePoint (const CPose3D &p1, double x, double y, double z)
 
void test_composePointJacob (const CPose3D &p1, double x, double y, double z, bool use_aprox=false)
 
void test_ExpLnEqual (const CPose3D &p1)
 
void test_invComposePointJacob (const CPose3D &p1, double x, double y, double z)
 
void test_default_values (const CPose3D &p, const std::string &label)
 
void test_composePointJacob_se3 (const CPose3D &p, const TPoint3D x_l)
 
void test_invComposePointJacob_se3 (const CPose3D &p, const TPoint3D x_g)
 
void check_jacob_expe_e_at_0 ()
 
void check_jacob_LnT_T (const CPose3D &p)
 
void test_Jacob_dexpeD_de (const CPose3D &p)
 
void test_Jacob_dDexpe_de (const CPose3D &p)
 
void test_Jacob_dAexpeD_de (const CPose3D &A, const CPose3D &D)
 

Static Protected Member Functions

static void func_compose_point (const CVectorFixedDouble< 6+3 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 3 > &Y)
 
static void func_inv_compose_point (const CVectorFixedDouble< 6+3 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 3 > &Y)
 
static void func_compose_point_se3 (const CVectorFixedDouble< 6 > &x, const CVectorFixedDouble< 3 > &P, CVectorFixedDouble< 3 > &Y)
 
static void func_invcompose_point_se3 (const CVectorFixedDouble< 6 > &x, const CVectorFixedDouble< 3 > &P, CVectorFixedDouble< 3 > &Y)
 
static void func_jacob_expe_e (const CVectorFixedDouble< 6 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 12 > &Y)
 
static void func_jacob_LnT_T (const CVectorFixedDouble< 12 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 6 > &Y)
 
static void func_jacob_expe_D (const CVectorFixedDouble< 6 > &eps, const CPose3D &D, CVectorFixedDouble< 12 > &Y)
 
static void func_jacob_D_expe (const CVectorFixedDouble< 6 > &eps, const CPose3D &D, CVectorFixedDouble< 12 > &Y)
 
static void func_jacob_Aexpe_D (const CVectorFixedDouble< 6 > &eps, const TParams_func_jacob_Aexpe_D &params, CVectorFixedDouble< 12 > &Y)
 

Member Function Documentation

◆ check_jacob_expe_e_at_0()

void Pose3DTests::check_jacob_expe_e_at_0 ( )
inlineprotected

Definition at line 567 of file CPose3D_unittest.cpp.

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

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◆ check_jacob_LnT_T()

void Pose3DTests::check_jacob_LnT_T ( const CPose3D p)
inlineprotected

Definition at line 624 of file CPose3D_unittest.cpp.

References mrpt::math::CMatrixDynamic< T >::asEigen(), mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::poses::CPose3D::getAs12Vector(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal().

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◆ func_compose_point()

static void Pose3DTests::func_compose_point ( const CVectorFixedDouble< 6+3 > &  x,
[[maybe_unused] ] const double &  dummy,
CVectorFixedDouble< 3 > &  Y 
)
inlinestaticprotected

Definition at line 279 of file CPose3D_unittest.cpp.

◆ func_compose_point_se3()

static void Pose3DTests::func_compose_point_se3 ( const CVectorFixedDouble< 6 > &  x,
const CVectorFixedDouble< 3 > &  P,
CVectorFixedDouble< 3 > &  Y 
)
inlinestaticprotected

Definition at line 452 of file CPose3D_unittest.cpp.

◆ func_inv_compose_point()

static void Pose3DTests::func_inv_compose_point ( const CVectorFixedDouble< 6+3 > &  x,
[[maybe_unused] ] const double &  dummy,
CVectorFixedDouble< 3 > &  Y 
)
inlinestaticprotected

Definition at line 289 of file CPose3D_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ func_invcompose_point_se3()

static void Pose3DTests::func_invcompose_point_se3 ( const CVectorFixedDouble< 6 > &  x,
const CVectorFixedDouble< 3 > &  P,
CVectorFixedDouble< 3 > &  Y 
)
inlinestaticprotected

Definition at line 462 of file CPose3D_unittest.cpp.

◆ func_jacob_Aexpe_D()

static void Pose3DTests::func_jacob_Aexpe_D ( const CVectorFixedDouble< 6 > &  eps,
const TParams_func_jacob_Aexpe_D params,
CVectorFixedDouble< 12 > &  Y 
)
inlinestaticprotected

Definition at line 754 of file CPose3D_unittest.cpp.

References eps, mrpt::poses::CPose3D::getAs12Vector(), and params.

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◆ func_jacob_D_expe()

static void Pose3DTests::func_jacob_D_expe ( const CVectorFixedDouble< 6 > &  eps,
const CPose3D D,
CVectorFixedDouble< 12 > &  Y 
)
inlinestaticprotected

Definition at line 703 of file CPose3D_unittest.cpp.

References eps, and mrpt::poses::CPose3D::getAs12Vector().

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◆ func_jacob_expe_D()

static void Pose3DTests::func_jacob_expe_D ( const CVectorFixedDouble< 6 > &  eps,
const CPose3D D,
CVectorFixedDouble< 12 > &  Y 
)
inlinestaticprotected

Definition at line 657 of file CPose3D_unittest.cpp.

References eps, and mrpt::poses::CPose3D::getAs12Vector().

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◆ func_jacob_expe_e()

static void Pose3DTests::func_jacob_expe_e ( const CVectorFixedDouble< 6 > &  x,
[[maybe_unused] ] const double &  dummy,
CVectorFixedDouble< 12 > &  Y 
)
inlinestaticprotected

Definition at line 556 of file CPose3D_unittest.cpp.

References mrpt::poses::CPose3D::getAs12Vector().

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◆ func_jacob_LnT_T()

static void Pose3DTests::func_jacob_LnT_T ( const CVectorFixedDouble< 12 > &  x,
[[maybe_unused] ] const double &  dummy,
CVectorFixedDouble< 6 > &  Y 
)
inlinestaticprotected

Definition at line 606 of file CPose3D_unittest.cpp.

References mrpt::poses::CPose3D::getRotationMatrix(), R, mrpt::poses::CPose3D::setFrom12Vector(), and mrpt::poses::CPose3D::setRotationMatrix().

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◆ SetUp()

void Pose3DTests::SetUp ( )
inlineoverrideprotected

Definition at line 29 of file CPose3D_unittest.cpp.

◆ TearDown()

void Pose3DTests::TearDown ( )
inlineoverrideprotected

Definition at line 30 of file CPose3D_unittest.cpp.

◆ test_compose()

void Pose3DTests::test_compose ( const CPose3D p1,
const CPose3D p2 
)
inlineprotected

Definition at line 70 of file CPose3D_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), and EXPECT_NEAR().

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◆ test_composeFrom()

void Pose3DTests::test_composeFrom ( const CPose3D p1,
const CPose3D p2 
)
inlineprotected

Definition at line 161 of file CPose3D_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPose3D::composeFrom(), and EXPECT_NEAR().

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◆ test_composePoint()

void Pose3DTests::test_composePoint ( const CPose3D p1,
double  x,
double  y,
double  z 
)
inlineprotected

Definition at line 220 of file CPose3D_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPose3D::composePoint(), EXPECT_NEAR(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ test_composePointJacob()

void Pose3DTests::test_composePointJacob ( const CPose3D p1,
double  x,
double  y,
double  z,
bool  use_aprox = false 
)
inlineprotected

◆ test_composePointJacob_se3()

void Pose3DTests::test_composePointJacob_se3 ( const CPose3D p,
const TPoint3D  x_l 
)
inlineprotected

◆ test_default_values()

void Pose3DTests::test_default_values ( const CPose3D p,
const std::string &  label 
)
inlineprotected

◆ test_ExpLnEqual()

void Pose3DTests::test_ExpLnEqual ( const CPose3D p1)
inlineprotected

Definition at line 365 of file CPose3D_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), and EXPECT_NEAR().

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◆ test_invComposePointJacob()

void Pose3DTests::test_invComposePointJacob ( const CPose3D p1,
double  x,
double  y,
double  z 
)
inlineprotected

◆ test_invComposePointJacob_se3()

void Pose3DTests::test_invComposePointJacob_se3 ( const CPose3D p,
const TPoint3D  x_g 
)
inlineprotected

◆ test_inverse()

void Pose3DTests::test_inverse ( const CPose3D p1)
inlineprotected

Definition at line 31 of file CPose3D_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), EXPECT_NEAR(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getInverseHomogeneousMatrix(), and mrpt::poses::CPose3D::inverse().

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◆ test_Jacob_dAexpeD_de()

void Pose3DTests::test_Jacob_dAexpeD_de ( const CPose3D A,
const CPose3D D 
)
inlineprotected

Definition at line 766 of file CPose3D_unittest.cpp.

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

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◆ test_Jacob_dDexpe_de()

void Pose3DTests::test_Jacob_dDexpe_de ( const CPose3D p)
inlineprotected

◆ test_Jacob_dexpeD_de()

void Pose3DTests::test_Jacob_dexpeD_de ( const CPose3D p)
inlineprotected

◆ test_to_from_2d()

void Pose3DTests::test_to_from_2d ( double  x,
double  y,
double  phi 
)
inlineprotected

Definition at line 147 of file CPose3D_unittest.cpp.

References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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