CPose3D_unittest.cpp File Reference

#include <mrpt/poses/CPose3D.h>
#include <mrpt/math/jacobians.h>
#include <mrpt/utils/CTraitsTest.h>
#include <gtest/gtest.h>

Go to the source code of this file.

Classes
class	Pose3DTests
struct	Pose3DTests::TParams_func_jacob_Aexpe_D

Functions
	TEST_F (Pose3DTests, DefaultValues)
	TEST_F (Pose3DTests, Initialization)
	TEST_F (Pose3DTests, OperatorBracket)
	TEST_F (Pose3DTests, InverseHM)
	TEST_F (Pose3DTests, Compose)
	TEST_F (Pose3DTests, composeFrom)
	TEST_F (Pose3DTests, ToFromCPose2D)
	TEST_F (Pose3DTests, ComposeAndInvComposeWithPoint)
	TEST_F (Pose3DTests, ComposePointJacob)
	TEST_F (Pose3DTests, ComposePointJacobApprox)
	TEST_F (Pose3DTests, InvComposePointJacob)
	TEST_F (Pose3DTests, ComposePointJacob_se3)
	TEST_F (Pose3DTests, InvComposePointJacob_se3)
	TEST_F (Pose3DTests, ExpLnEqual)
	TEST_F (Pose3DTests, Jacob_dExpe_de_at_0)
	TEST_F (Pose3DTests, Jacob_dLnT_dT)
	TEST_F (Pose3DTests, Jacob_dexpeD_de)
	TEST_F (Pose3DTests, Jacob_dAexpeD_de)

Variables
const double	ptc [][6]
const size_t	num_ptc = sizeof(ptc) / sizeof(ptc[0])

Function Documentation

TEST_F() [1/18]

TEST_F	(	Pose3DTests	,
		DefaultValues
	)

Definition at line 743 of file CPose3D_unittest.cpp.

TEST_F() [2/18]

TEST_F	(	Pose3DTests	,
		Initialization
	)

Definition at line 767 of file CPose3D_unittest.cpp.

TEST_F() [3/18]

TEST_F	(	Pose3DTests	,
		OperatorBracket
	)

Definition at line 778 of file CPose3D_unittest.cpp.

TEST_F() [4/18]

TEST_F	(	Pose3DTests	,
		InverseHM
	)

Definition at line 811 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F() [5/18]

TEST_F	(	Pose3DTests	,
		Compose
	)

Definition at line 819 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F() [6/18]

TEST_F	(	Pose3DTests	,
		composeFrom
	)

Definition at line 829 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F() [7/18]

TEST_F	(	Pose3DTests	,
		ToFromCPose2D
	)

Definition at line 840 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F() [8/18]

TEST_F	(	Pose3DTests	,
		ComposeAndInvComposeWithPoint
	)

Definition at line 846 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F() [9/18]

TEST_F	(	Pose3DTests	,
		ComposePointJacob
	)

Definition at line 865 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F() [10/18]

TEST_F	(	Pose3DTests	,
		ComposePointJacobApprox
	)

Definition at line 878 of file CPose3D_unittest.cpp.

References DEG2RAD.

TEST_F() [11/18]

TEST_F	(	Pose3DTests	,
		InvComposePointJacob
	)

Definition at line 890 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F() [12/18]

TEST_F	(	Pose3DTests	,
		ComposePointJacob_se3
	)

Definition at line 909 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F() [13/18]

TEST_F	(	Pose3DTests	,
		InvComposePointJacob_se3
	)

Definition at line 930 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F() [14/18]

TEST_F	(	Pose3DTests	,
		ExpLnEqual
	)

Definition at line 952 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F() [15/18]

TEST_F	(	Pose3DTests	,
		Jacob_dExpe_de_at_0
	)

Definition at line 960 of file CPose3D_unittest.cpp.

TEST_F() [16/18]

TEST_F	(	Pose3DTests	,
		Jacob_dLnT_dT
	)

Definition at line 961 of file CPose3D_unittest.cpp.

References DEG2RAD.

TEST_F() [17/18]

TEST_F	(	Pose3DTests	,
		Jacob_dexpeD_de
	)

Definition at line 973 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

TEST_F() [18/18]

TEST_F	(	Pose3DTests	,
		Jacob_dAexpeD_de
	)

Definition at line 981 of file CPose3D_unittest.cpp.

References DEG2RAD, num_ptc, and ptc.

Variable Documentation

num_ptc

const size_t num_ptc = sizeof(ptc) / sizeof(ptc[0])

Definition at line 808 of file CPose3D_unittest.cpp.

Referenced by TEST_F().

ptc

const double ptc[][6]

Initial value:

= {  
        {.0, .0, .0, .0, .0, .0},
        {1.0, 2.0, 3.0, .0, .0, .0},
        {1.0, 2.0, 3.0, 10.0, .0, .0},
        {1.0, 2.0, 3.0, .0, 1.0, .0},
        {1.0, 2.0, 3.0, .0, .0, 1.0},
        {1.0, 2.0, 3.0, 80.0, 5.0, 5.0},
        {1.0, 2.0, 3.0, -20.0, -30.0, -40.0},
        {1.0, 2.0, 3.0, -45.0, 10.0, 70.0},
        {1.0, 2.0, 3.0, 40.0, -5.0, 25.0},
        {1.0, 2.0, 3.0, 40.0, 20.0, -15.0},
        {-6.0, 2.0, 3.0, 40.0, 20.0, 15.0},
        {6.0, -5.0, 3.0, 40.0, 20.0, 15.0},
        {6.0, 2.0, -9.0, 40.0, 20.0, 15.0},
        {0.0, 8.0, 5.0, -45.0, 10.0, 70.0},
        {1.0, 0.0, 5.0, -45.0, 10.0, 70.0},
        {1.0, 8.0, 0.0, -45.0, 10.0, 70.0}}

Definition at line 791 of file CPose3D_unittest.cpp.

Referenced by TEST_F().