Pose3DPDFGaussTests Class Reference

Detailed Description

Definition at line 26 of file CPose3DPDFGaussian_unittest.cpp.

Inheritance diagram for Pose3DPDFGaussTests:

Protected Member Functions
void	SetUp () override
void	TearDown () override
void	testToQuatPDFAndBack (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
void	testPoseComposition (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double std_scale2)
void	testCompositionJacobian (double x, double y, double z, double yaw, double pitch, double roll, double x2, double y2, double z2, double yaw2, double pitch2, double roll2)
void	testPoseInverseComposition (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double std_scale2)
void	testPoseInverse (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
void	testAllPoseOperators (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double std_scale2)
void	testChangeCoordsRef (double x, double y, double z, double yaw, double pitch, double roll, double std_scale, double x2, double y2, double z2, double yaw2, double pitch2, double roll2)

Static Protected Member Functions
static CPose3DPDFGaussian	generateRandomPose3DPDF (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
static void	func_compose (const CVectorFixedDouble< 12 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 6 > &Y)
static void	func_inv_compose (const CVectorFixedDouble< 2 *6 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 6 > &Y)

Member Function Documentation

func_compose()

static void Pose3DPDFGaussTests::func_compose ( const CVectorFixedDouble< 12 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 6 > &  Y  )

inlinestaticprotected

Definition at line 67 of file CPose3DPDFGaussian_unittest.cpp.

func_inv_compose()

static void Pose3DPDFGaussTests::func_inv_compose ( const CVectorFixedDouble< 2 *6 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 6 > &  Y  )

inlinestaticprotected

Definition at line 78 of file CPose3DPDFGaussian_unittest.cpp.

generateRandomPose3DPDF()

static CPose3DPDFGaussian Pose3DPDFGaussTests::generateRandomPose3DPDF ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale  )

inlinestaticprotected

Definition at line 31 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::math::cov(), mrpt::random::CRandomGenerator::drawGaussian1DMatrix(), mrpt::random::getRandomGenerator(), mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AAt(), mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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SetUp()

void Pose3DPDFGaussTests::SetUp ( )

inlineoverrideprotected

Definition at line 29 of file CPose3DPDFGaussian_unittest.cpp.

TearDown()

void Pose3DPDFGaussTests::TearDown ( )

inlineoverrideprotected

Definition at line 30 of file CPose3DPDFGaussian_unittest.cpp.

testAllPoseOperators()

void Pose3DPDFGaussTests::testAllPoseOperators ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale, double  x2, double  y2, double  z2, double  yaw2, double  pitch2, double  roll2, double  std_scale2  )

inlineprotected

Definition at line 318 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

testChangeCoordsRef()

void Pose3DPDFGaussTests::testChangeCoordsRef ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale, double  x2, double  y2, double  z2, double  yaw2, double  pitch2, double  roll2  )

inlineprotected

Definition at line 335 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDFGaussian::cov, EXPECT_NEAR(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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testCompositionJacobian()

void Pose3DPDFGaussTests::testCompositionJacobian ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  x2, double  y2, double  z2, double  yaw2, double  pitch2, double  roll2  )

inlineprotected

Definition at line 146 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and mrpt::math::UNINITIALIZED_MATRIX.

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testPoseComposition()

void Pose3DPDFGaussTests::testPoseComposition ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale, double  x2, double  y2, double  z2, double  yaw2, double  pitch2, double  roll2, double  std_scale2  )

inlineprotected

Definition at line 90 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPose3DPDFGaussian::cov, EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), for(), mrpt::math::MatrixBase< Scalar, Derived >::insertMatrix(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and mrpt::math::transform_gaussian_linear().

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testPoseInverse()

void Pose3DPDFGaussTests::testPoseInverse ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale  )

inlineprotected

Definition at line 265 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPose3DPDFGaussian::cov, EXPECT_NEAR(), mrpt::poses::CPose3DPDFGaussian::inverse(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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testPoseInverseComposition()

void Pose3DPDFGaussTests::testPoseInverseComposition ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale, double  x2, double  y2, double  z2, double  yaw2, double  pitch2, double  roll2, double  std_scale2  )

inlineprotected

Definition at line 208 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPose3DPDFGaussian::cov, EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), for(), mrpt::math::MatrixBase< Scalar, Derived >::insertMatrix(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and mrpt::math::transform_gaussian_linear().

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testToQuatPDFAndBack()

void Pose3DPDFGaussTests::testToQuatPDFAndBack ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale  )

inlineprotected

Definition at line 45 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPose3DPDFGaussian::cov, EXPECT_TRUE(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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