Pose3DTests Class Reference

Detailed Description

Definition at line 26 of file CPose3D_unittest.cpp.

Inheritance diagram for Pose3DTests:

Classes
struct	TParams_func_jacob_Aexpe_D

Protected Member Functions
void	SetUp () override
void	TearDown () override
void	test_inverse (const CPose3D &p1)
void	test_compose (const CPose3D &p1, const CPose3D &p2)
void	test_to_from_2d (double x, double y, double phi)
void	test_composeFrom (const CPose3D &p1, const CPose3D &p2)
void	test_composePoint (const CPose3D &p1, double x, double y, double z)
void	test_composePointJacob (const CPose3D &p1, double x, double y, double z, bool use_aprox=false)
void	test_ExpLnEqual (const CPose3D &p1)
void	test_invComposePointJacob (const CPose3D &p1, double x, double y, double z)
void	test_default_values (const CPose3D &p, const std::string &label)
void	test_composePointJacob_se3 (const CPose3D &p, const TPoint3D x_l)
void	test_invComposePointJacob_se3 (const CPose3D &p, const TPoint3D x_g)
void	check_jacob_expe_e_at_0 ()
void	check_jacob_LnT_T (const CPose3D &p)
void	test_Jacob_dexpeD_de (const CPose3D &p)
void	test_Jacob_dDexpe_de (const CPose3D &p)
void	test_Jacob_dAexpeD_de (const CPose3D &A, const CPose3D &D)

Static Protected Member Functions
static void	func_compose_point (const CVectorFixedDouble< 6+3 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 3 > &Y)
static void	func_inv_compose_point (const CVectorFixedDouble< 6+3 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 3 > &Y)
static void	func_compose_point_se3 (const CVectorFixedDouble< 6 > &x, const CVectorFixedDouble< 3 > &P, CVectorFixedDouble< 3 > &Y)
static void	func_invcompose_point_se3 (const CVectorFixedDouble< 6 > &x, const CVectorFixedDouble< 3 > &P, CVectorFixedDouble< 3 > &Y)
static void	func_jacob_expe_e (const CVectorFixedDouble< 6 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 12 > &Y)
static void	func_jacob_LnT_T (const CVectorFixedDouble< 12 > &x, [[maybe_unused]] const double &dummy, CVectorFixedDouble< 6 > &Y)
static void	func_jacob_expe_D (const CVectorFixedDouble< 6 > &eps, const CPose3D &D, CVectorFixedDouble< 12 > &Y)
static void	func_jacob_D_expe (const CVectorFixedDouble< 6 > &eps, const CPose3D &D, CVectorFixedDouble< 12 > &Y)
static void	func_jacob_Aexpe_D (const CVectorFixedDouble< 6 > &eps, const TParams_func_jacob_Aexpe_D &params, CVectorFixedDouble< 12 > &Y)

Member Function Documentation

check_jacob_expe_e_at_0()

void Pose3DTests::check_jacob_expe_e_at_0 ( )

inlineprotected

Definition at line 567 of file CPose3D_unittest.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::CMatrixDynamic< T >::asEigen(), mrpt::math::estimateJacobian(), EXPECT_NEAR(), and mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill().

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check_jacob_LnT_T()

void Pose3DTests::check_jacob_LnT_T ( const CPose3D &  p )

inlineprotected

Definition at line 624 of file CPose3D_unittest.cpp.

References mrpt::math::CMatrixDynamic< T >::asEigen(), mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::poses::CPose3D::getAs12Vector(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal().

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func_compose_point()

static void Pose3DTests::func_compose_point ( const CVectorFixedDouble< 6+3 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 3 > &  Y  )

inlinestaticprotected

Definition at line 279 of file CPose3D_unittest.cpp.

func_compose_point_se3()

static void Pose3DTests::func_compose_point_se3 ( const CVectorFixedDouble< 6 > &  x, const CVectorFixedDouble< 3 > &  P, CVectorFixedDouble< 3 > &  Y  )

inlinestaticprotected

Definition at line 452 of file CPose3D_unittest.cpp.

func_inv_compose_point()

static void Pose3DTests::func_inv_compose_point ( const CVectorFixedDouble< 6+3 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 3 > &  Y  )

inlinestaticprotected

Definition at line 289 of file CPose3D_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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func_invcompose_point_se3()

static void Pose3DTests::func_invcompose_point_se3 ( const CVectorFixedDouble< 6 > &  x, const CVectorFixedDouble< 3 > &  P, CVectorFixedDouble< 3 > &  Y  )

inlinestaticprotected

Definition at line 462 of file CPose3D_unittest.cpp.

func_jacob_Aexpe_D()

static void Pose3DTests::func_jacob_Aexpe_D ( const CVectorFixedDouble< 6 > &  eps, const TParams_func_jacob_Aexpe_D &  params, CVectorFixedDouble< 12 > &  Y  )

inlinestaticprotected

Definition at line 754 of file CPose3D_unittest.cpp.

References eps, mrpt::poses::CPose3D::getAs12Vector(), and params.

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func_jacob_D_expe()

static void Pose3DTests::func_jacob_D_expe ( const CVectorFixedDouble< 6 > &  eps, const CPose3D &  D, CVectorFixedDouble< 12 > &  Y  )

inlinestaticprotected

Definition at line 703 of file CPose3D_unittest.cpp.

References eps, and mrpt::poses::CPose3D::getAs12Vector().

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func_jacob_expe_D()

static void Pose3DTests::func_jacob_expe_D ( const CVectorFixedDouble< 6 > &  eps, const CPose3D &  D, CVectorFixedDouble< 12 > &  Y  )

inlinestaticprotected

Definition at line 657 of file CPose3D_unittest.cpp.

References eps, and mrpt::poses::CPose3D::getAs12Vector().

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func_jacob_expe_e()

static void Pose3DTests::func_jacob_expe_e ( const CVectorFixedDouble< 6 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 12 > &  Y  )

inlinestaticprotected

Definition at line 556 of file CPose3D_unittest.cpp.

References mrpt::poses::CPose3D::getAs12Vector().

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func_jacob_LnT_T()

static void Pose3DTests::func_jacob_LnT_T ( const CVectorFixedDouble< 12 > &  x, [[maybe_unused] ] const double &  dummy, CVectorFixedDouble< 6 > &  Y  )

inlinestaticprotected

Definition at line 606 of file CPose3D_unittest.cpp.

References mrpt::poses::CPose3D::getRotationMatrix(), R, mrpt::poses::CPose3D::setFrom12Vector(), and mrpt::poses::CPose3D::setRotationMatrix().

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SetUp()

void Pose3DTests::SetUp ( )

inlineoverrideprotected

Definition at line 29 of file CPose3D_unittest.cpp.

TearDown()

void Pose3DTests::TearDown ( )

inlineoverrideprotected

Definition at line 30 of file CPose3D_unittest.cpp.

test_compose()

void Pose3DTests::test_compose ( const CPose3D &  p1, const CPose3D &  p2  )

inlineprotected

Definition at line 70 of file CPose3D_unittest.cpp.

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

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test_composeFrom()

void Pose3DTests::test_composeFrom ( const CPose3D &  p1, const CPose3D &  p2  )

inlineprotected

Definition at line 161 of file CPose3D_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPose3D::composeFrom(), and EXPECT_NEAR().

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test_composePoint()

void Pose3DTests::test_composePoint ( const CPose3D &  p1, double  x, double  y, double  z  )

inlineprotected

Definition at line 220 of file CPose3D_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPose3D::composePoint(), EXPECT_NEAR(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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test_composePointJacob()

void Pose3DTests::test_composePointJacob ( const CPose3D &  p1, double  x, double  y, double  z, bool  use_aprox = false  )

inlineprotected

Definition at line 301 of file CPose3D_unittest.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::MatrixVectorBase< Scalar, Derived >::block(), mrpt::poses::CPose3D::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_composePointJacob_se3()

void Pose3DTests::test_composePointJacob_se3 ( const CPose3D &  p, const TPoint3D  x_l  )

inlineprotected

Definition at line 472 of file CPose3D_unittest.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::poses::CPose3D::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_default_values()

void Pose3DTests::test_default_values ( const CPose3D &  p, const std::string &  label  )

inlineprotected

Definition at line 433 of file CPose3D_unittest.cpp.

References EXPECT_EQ(), EXPECT_NEAR(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal(), mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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test_ExpLnEqual()

void Pose3DTests::test_ExpLnEqual ( const CPose3D &  p1 )

inlineprotected

Definition at line 365 of file CPose3D_unittest.cpp.

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

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test_invComposePointJacob()

void Pose3DTests::test_invComposePointJacob ( const CPose3D &  p1, double  x, double  y, double  z  )

inlineprotected

Definition at line 372 of file CPose3D_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::inverseComposePoint(), mrpt::math::sum(), 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_invComposePointJacob_se3()

void Pose3DTests::test_invComposePointJacob_se3 ( const CPose3D &  p, const TPoint3D  x_g  )

inlineprotected

Definition at line 514 of file CPose3D_unittest.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::poses::CPose3D::inverseComposePoint(), 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_inverse()

void Pose3DTests::test_inverse ( const CPose3D &  p1 )

inlineprotected

Definition at line 31 of file CPose3D_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), EXPECT_NEAR(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getInverseHomogeneousMatrix(), and mrpt::poses::CPose3D::inverse().

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test_Jacob_dAexpeD_de()

void Pose3DTests::test_Jacob_dAexpeD_de ( const CPose3D &  A, const CPose3D &  D  )

inlineprotected

Definition at line 766 of file CPose3D_unittest.cpp.

References mrpt::math::CMatrixDynamic< T >::asEigen(), eps, mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), params, and mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::setZero().

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test_Jacob_dDexpe_de()

void Pose3DTests::test_Jacob_dDexpe_de ( const CPose3D &  p )

inlineprotected

Definition at line 714 of file CPose3D_unittest.cpp.

References mrpt::math::CMatrixDynamic< T >::asEigen(), eps, mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal(), and mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::setZero().

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test_Jacob_dexpeD_de()

void Pose3DTests::test_Jacob_dexpeD_de ( const CPose3D &  p )

inlineprotected

Definition at line 668 of file CPose3D_unittest.cpp.

References mrpt::math::CMatrixDynamic< T >::asEigen(), eps, mrpt::math::estimateJacobian(), EXPECT_NEAR(), mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::fill(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal(), and mrpt::math::MatrixVectorBase< T, CMatrixFixed< T, ROWS, COLS > >::setZero().

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test_to_from_2d()

void Pose3DTests::test_to_from_2d ( double  x, double  y, double  phi  )

inlineprotected

Definition at line 147 of file CPose3D_unittest.cpp.

References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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