Pose3DQuatTests Class Reference

Detailed Description

Definition at line 25 of file CPose3DQuat_unittest.cpp.

Inheritance diagram for Pose3DQuatTests:

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)

Member Function Documentation

func_compose_point()

static void Pose3DQuatTests::func_compose_point ( const CVectorFixedDouble< 7+3 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 3 > &  Y  )

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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func_inv_compose_point()

static void Pose3DQuatTests::func_inv_compose_point ( const CVectorFixedDouble< 7+3 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 3 > &  Y  )

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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func_normalizeJacob()

static void Pose3DQuatTests::func_normalizeJacob ( const CVectorFixedDouble< 4 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 4 > &  Y  )

inlinestaticprotected

Definition at line 555 of file CPose3DQuat_unittest.cpp.

References mrpt::math::CQuaternion< T >::normalize().

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func_spherical_coords()

static void Pose3DQuatTests::func_spherical_coords ( const CVectorFixedDouble< 7+3 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 3 > &  Y  )

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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SetUp()

void Pose3DQuatTests::SetUp ( )

inlineoverrideprotected

Definition at line 28 of file CPose3DQuat_unittest.cpp.

TearDown()

void Pose3DQuatTests::TearDown ( )

inlineoverrideprotected

Definition at line 29 of file CPose3DQuat_unittest.cpp.

test_compose()

void Pose3DQuatTests::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  )

inlineprotected

Definition at line 30 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), and EXPECT_NEAR().

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test_composeAndInvComposePoint()

void Pose3DQuatTests::test_composeAndInvComposePoint ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1, double  x, double  y, double  z  )

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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test_composePoint()

void Pose3DQuatTests::test_composePoint ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1, double  x, double  y, double  z  )

inlineprotected

Definition at line 99 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), and EXPECT_NEAR().

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test_composePoint_vs_CPose3D()

void Pose3DQuatTests::test_composePoint_vs_CPose3D ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1, double  x, double  y, double  z  )

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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test_composePointJacob()

void Pose3DQuatTests::test_composePointJacob ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1, double  x, double  y, double  z  )

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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test_copy()

void Pose3DQuatTests::test_copy ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1  )

inlineprotected

Definition at line 392 of file CPose3DQuat_unittest.cpp.

References EXPECT_NEAR(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal().

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test_fromYPRAndBack()

void Pose3DQuatTests::test_fromYPRAndBack ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1  )

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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test_invComposePoint()

void Pose3DQuatTests::test_invComposePoint ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1, double  x, double  y, double  z  )

inlineprotected

Definition at line 202 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), and EXPECT_NEAR().

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test_invComposePoint_vs_CPose3D()

void Pose3DQuatTests::test_invComposePoint_vs_CPose3D ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1, double  x, double  y, double  z  )

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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test_invComposePointJacob()

void Pose3DQuatTests::test_invComposePointJacob ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1, double  x, double  y, double  z  )

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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test_normalizeJacob()

void Pose3DQuatTests::test_normalizeJacob ( double  yaw1, double  pitch1, double  roll1  )

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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test_sphericalCoords()

void Pose3DQuatTests::test_sphericalCoords ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1, double  x, double  y, double  z  )

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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test_unaryInverse()

void Pose3DQuatTests::test_unaryInverse ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1  )

inlineprotected

Definition at line 368 of file CPose3DQuat_unittest.cpp.

References EXPECT_NEAR(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal().

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