MRPT
2.0.1
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Definition at line 25 of file CPose3DQuat_unittest.cpp.
Protected Member Functions | |
void | SetUp () override |
void | TearDown () override |
void | test_compose (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x2, double y2, double z2, double yaw2, double pitch2, double roll2) |
void | test_composePoint (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z) |
void | test_composePointJacob (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z) |
void | test_invComposePoint (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z) |
void | test_invComposePointJacob (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z) |
void | test_fromYPRAndBack (double x1, double y1, double z1, double yaw1, double pitch1, double roll1) |
void | test_unaryInverse (double x1, double y1, double z1, double yaw1, double pitch1, double roll1) |
void | test_copy (double x1, double y1, double z1, double yaw1, double pitch1, double roll1) |
void | test_composeAndInvComposePoint (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z) |
void | test_composePoint_vs_CPose3D (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z) |
void | test_invComposePoint_vs_CPose3D (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z) |
void | test_sphericalCoords (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x, double y, double z) |
void | test_normalizeJacob (double yaw1, double pitch1, double roll1) |
Static Protected Member Functions | |
static void | func_compose_point (const CVectorFixedDouble< 7+3 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 3 > &Y) |
static void | func_inv_compose_point (const CVectorFixedDouble< 7+3 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 3 > &Y) |
static void | func_spherical_coords (const CVectorFixedDouble< 7+3 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 3 > &Y) |
static void | func_normalizeJacob (const CVectorFixedDouble< 4 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 4 > &Y) |
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inlinestaticprotected |
Definition at line 124 of file CPose3DQuat_unittest.cpp.
References mrpt::math::CQuaternion< T >::normalize(), and mrpt::poses::CPose3DQuat::quat().
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inlinestaticprotected |
Definition at line 232 of file CPose3DQuat_unittest.cpp.
References mrpt::math::CQuaternion< T >::normalize(), mrpt::poses::CPose3DQuat::quat(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().
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inlinestaticprotected |
Definition at line 555 of file CPose3DQuat_unittest.cpp.
References mrpt::math::CQuaternion< T >::normalize().
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inlinestaticprotected |
Definition at line 478 of file CPose3DQuat_unittest.cpp.
References mrpt::math::CQuaternion< T >::normalize(), mrpt::poses::CPose3DQuat::quat(), and mrpt::poses::CPose3DQuat::sphericalCoordinates().
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inlineoverrideprotected |
Definition at line 28 of file CPose3DQuat_unittest.cpp.
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inlineoverrideprotected |
Definition at line 29 of file CPose3DQuat_unittest.cpp.
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inlineprotected |
Definition at line 30 of file CPose3DQuat_unittest.cpp.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), and EXPECT_NEAR().
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inlineprotected |
Definition at line 415 of file CPose3DQuat_unittest.cpp.
References mrpt::poses::CPose3DQuat::composePoint(), EXPECT_NEAR(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.
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inlineprotected |
Definition at line 99 of file CPose3DQuat_unittest.cpp.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), and EXPECT_NEAR().
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inlineprotected |
Definition at line 429 of file CPose3DQuat_unittest.cpp.
References mrpt::poses::CPose3DQuat::composePoint(), mrpt::poses::CPose3D::composePoint(), EXPECT_NEAR(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.
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inlineprotected |
Definition at line 136 of file CPose3DQuat_unittest.cpp.
References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::CMatrixDynamic< T >::asEigen(), mrpt::poses::CPose3DQuat::composePoint(), mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.
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inlineprotected |
Definition at line 392 of file CPose3DQuat_unittest.cpp.
References EXPECT_NEAR(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal().
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inlineprotected |
Definition at line 340 of file CPose3DQuat_unittest.cpp.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), EXPECT_NEAR(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal().
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inlineprotected |
Definition at line 202 of file CPose3DQuat_unittest.cpp.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), and EXPECT_NEAR().
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inlineprotected |
Definition at line 444 of file CPose3DQuat_unittest.cpp.
References EXPECT_NEAR(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3D::sphericalCoordinates(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.
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inlineprotected |
Definition at line 246 of file CPose3DQuat_unittest.cpp.
References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::square(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::TPoint3D_data< T >::x, mrpt::math::CQuaternion< T >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::math::CQuaternion< T >::y(), mrpt::math::TPoint3D_data< T >::z, and mrpt::math::CQuaternion< T >::z().
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inlineprotected |
Definition at line 565 of file CPose3DQuat_unittest.cpp.
References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::math::CQuaternion< T >::normalizationJacobian(), and mrpt::math::UNINITIALIZED_MATRIX.
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inlineprotected |
Definition at line 489 of file CPose3DQuat_unittest.cpp.
References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::poses::CPose3DQuat::sphericalCoordinates(), and mrpt::math::UNINITIALIZED_MATRIX.
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inlineprotected |
Definition at line 368 of file CPose3DQuat_unittest.cpp.
References EXPECT_NEAR(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal().
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