CMonteCarloLocalization2D_unittest.cpp File Reference

#include <mrpt/utils/CFileGZInputStream.h>
#include <mrpt/utils/CConfigFile.h>
#include <mrpt/slam/CMonteCarloLocalization2D.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/obs/CRawlog.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/system/os.h>
#include <mrpt/random.h>
#include <gtest/gtest.h>
#include <mrpt/bayes/CParticleFilter_impl.h>

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Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::utils
	Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.

Functions
void	run_test_pf_localization (CPose2D &meanPose, CMatrixDouble33 &cov)
	TEST (MonteCarlo2D, RunSampleDataset)

Function Documentation

run_test_pf_localization()

void run_test_pf_localization	(	CPose2D &	meanPose,
		CMatrixDouble33 &	cov
	)

Definition at line 44 of file CMonteCarloLocalization2D_unittest.cpp.

References ASSERT_, mrpt::math::cov(), DEG2RAD, mrpt::slam::CMonteCarloLocalization2D::executeOn(), mrpt::system::extractFileExtension(), mrpt::system::fileExists(), mrpt::obs::CRawlog::getActionObservationPair(), mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::random::getRandomGenerator(), mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::slam::TKLDParams::loadFromConfigFile(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile(), mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile(), mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations(), mrpt::obs::CRawlog::loadFromRawLogFile(), mrpt::system::lowerCase(), mrpt::maps::CMultiMetricMap::m_gridMaps, mrpt::bayes::CParticleFilter::m_options, mrpt::slam::CMonteCarloLocalization2D::m_poseParticles, mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::utils::MRPT_GLOBAL_UNITTEST_SRC_DIR, mrpt::slam::CMonteCarloLocalization2D::options, mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm, mrpt::random::CRandomGenerator::randomize(), mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), mrpt::utils::CConfigFileBase::read_vector(), mrpt::poses::CPosePDFParticles::resetUniform(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), mrpt::maps::CMultiMetricMap::setListOfMaps(), mrpt::maps::CSimpleMap::size(), mrpt::obs::CRawlog::size(), mrpt::maps::CMultiMetricMap::ProxyFilterContainerByClass< SELECTED_CLASS_PTR, CONTAINER >::size(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, and mrpt::utils::CTicTac::Tic().

Referenced by TEST().

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TEST()

TEST	(	MonteCarlo2D	,
		RunSampleDataset
	)

Definition at line 279 of file CMonteCarloLocalization2D_unittest.cpp.

References mrpt::math::cov(), DEG2RAD, MRPT_TODO, mrpt::math::norm(), and run_test_pf_localization().

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