GraphTester< my_graph_t > Class Template Reference

Detailed Description

template<class my_graph_t>
class GraphTester< my_graph_t >

Definition at line 40 of file graph_slam_levmarq_unittest.cpp.

Inheritance diagram for GraphTester< my_graph_t >:

Static Public Member Functions
static void	addEdge (TNodeID from, TNodeID to, const typename my_graph_t::global_poses_t &real_poses, my_graph_t &graph)
static void	create_ring_path (my_graph_t &graph, size_t N_VERTEX=50, double DIST_THRES=7, double NODES_XY_MAX=20)

Protected Member Functions
void	SetUp () override
void	TearDown () override
void	test_ring_path (const char *className)
void	compare_two_graphs (const my_graph_t &g1, const my_graph_t &g2, const double eps_node_pos=1e-3, const double eps_edges=1e-3)
void	test_graph_text_serialization ()
void	test_graph_bin_serialization ()
void	test_optimize_compare_known_solution (const char *type)

Member Function Documentation

addEdge()

template<class my_graph_t >

static void GraphSlamLevMarqTest< my_graph_t >::addEdge ( TNodeID  from, TNodeID  to, const typename my_graph_t::global_poses_t &  real_poses, my_graph_t &  graph  )

inlinestaticinherited

Definition at line 29 of file graph_slam_levmarq_test_common.h.

References mrpt::random::CRandomGenerator::drawDefinitePositiveMatrix(), and mrpt::random::getRandomGenerator().

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compare_two_graphs()

template<class my_graph_t >

void GraphTester< my_graph_t >::compare_two_graphs ( const my_graph_t &  g1, const my_graph_t &  g2, const double  eps_node_pos = 1e-3, const double  eps_edges = 1e-3  )

inlineprotected

Definition at line 80 of file graph_slam_levmarq_unittest.cpp.

References EXPECT_EQ(), and EXPECT_NEAR().

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create_ring_path()

template<class my_graph_t >

static void GraphSlamLevMarqTest< my_graph_t >::create_ring_path ( my_graph_t &  graph, size_t  N_VERTEX = 50, double  DIST_THRES = 7, double  NODES_XY_MAX = 20  )

inlinestaticinherited

Definition at line 56 of file graph_slam_levmarq_test_common.h.

References addEdge(), mrpt::random::getRandomGenerator(), M_PI, R, mrpt::math::MatrixBase< Scalar, Derived >::setIdentity(), mrpt::math::size(), STD_NOISE_EDGE_ANG, STD_NOISE_EDGE_XYZ, STD_NOISE_NODE_ANG, and STD_NOISE_NODE_XYZ.

Referenced by GraphTester< my_graph_t >::test_graph_bin_serialization(), GraphTester< my_graph_t >::test_graph_text_serialization(), and GraphTester< my_graph_t >::test_ring_path().

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SetUp()

template<class my_graph_t >

void GraphTester< my_graph_t >::SetUp ( )

inlineoverrideprotected

Definition at line 44 of file graph_slam_levmarq_unittest.cpp.

TearDown()

template<class my_graph_t >

void GraphTester< my_graph_t >::TearDown ( )

inlineoverrideprotected

Definition at line 45 of file graph_slam_levmarq_unittest.cpp.

test_graph_bin_serialization()

template<class my_graph_t >

void GraphTester< my_graph_t >::test_graph_bin_serialization ( )

inlineprotected

Definition at line 142 of file graph_slam_levmarq_unittest.cpp.

References mrpt::serialization::archiveFrom(), GraphSlamLevMarqTest< my_graph_t >::create_ring_path(), and mrpt::io::CMemoryStream::Seek().

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test_graph_text_serialization()

template<class my_graph_t >

void GraphTester< my_graph_t >::test_graph_text_serialization ( )

inlineprotected

Definition at line 127 of file graph_slam_levmarq_unittest.cpp.

References GraphSlamLevMarqTest< my_graph_t >::create_ring_path().

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test_optimize_compare_known_solution()

template<class my_graph_t >

void GraphTester< my_graph_t >::test_optimize_compare_known_solution ( const char *  type )

inlineprotected

Definition at line 158 of file graph_slam_levmarq_unittest.cpp.

References ASSERT_, ASSERT_FILE_EXISTS_, EXPECT_LT(), mrpt::graphslam::TResultInfoSpaLevMarq::final_total_sq_error, inout_graph_files, mrpt::graphslam::TResultInfoSpaLevMarq::num_iters, mrpt::graphslam::optimize_graph_spa_levmarq(), and params.

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test_ring_path()

template<class my_graph_t >

void GraphTester< my_graph_t >::test_ring_path ( const char *  className )

inlineprotected

Definition at line 46 of file graph_slam_levmarq_unittest.cpp.

References GraphSlamLevMarqTest< my_graph_t >::create_ring_path(), EXPECT_LT(), mrpt::graphslam::TResultInfoSpaLevMarq::final_total_sq_error, mrpt::graphslam::TResultInfoSpaLevMarq::num_iters, mrpt::graphslam::optimize_graph_spa_levmarq(), and params.

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