Pose3DPDFGaussTests Class Reference

Detailed Description

Definition at line 27 of file CPose3DPDFGaussian_unittest.cpp.

Inheritance diagram for Pose3DPDFGaussTests:

Protected Member Functions
virtual void	SetUp ()
virtual void	TearDown ()
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 CArrayDouble< 12 > &x, const double &dummy, CArrayDouble< 6 > &Y)
static void	func_inv_compose (const CArrayDouble< 2 *6 > &x, const double &dummy, CArrayDouble< 6 > &Y)

Member Function Documentation

func_compose()

static void Pose3DPDFGaussTests::func_compose ( const CArrayDouble< 12 > &  x, const double &  dummy, CArrayDouble< 6 > &  Y  )

inlinestaticprotected

Definition at line 70 of file CPose3DPDFGaussian_unittest.cpp.

References MRPT_UNUSED_PARAM.

func_inv_compose()

static void Pose3DPDFGaussTests::func_inv_compose ( const CArrayDouble< 2 *6 > &  x, const double &  dummy, CArrayDouble< 6 > &  Y  )

inlinestaticprotected

Definition at line 81 of file CPose3DPDFGaussian_unittest.cpp.

References MRPT_UNUSED_PARAM.

generateRandomPose3DPDF()

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

inlinestaticprotected

Definition at line 32 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::math::cov(), mrpt::random::CRandomGenerator::drawGaussian1DMatrix(), mrpt::random::getRandomGenerator(), mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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SetUp()

virtual void Pose3DPDFGaussTests::SetUp ( )

inlineprotectedvirtual

Definition at line 30 of file CPose3DPDFGaussian_unittest.cpp.

TearDown()

virtual void Pose3DPDFGaussTests::TearDown ( )

inlineprotectedvirtual

Definition at line 31 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 326 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and z2.

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 343 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and z2.

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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 153 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::math::jacobians::jacob_numeric_estimate(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, mrpt::math::sum(), mrpt::math::UNINITIALIZED_MATRIX, and z2.

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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 93 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DPDFGaussian::cov, for(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, mrpt::math::transform_gaussian_linear(), and z2.

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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 275 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DPDFGaussian::cov, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), 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 214 of file CPose3DPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DPDFGaussian::cov, for(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, mrpt::math::transform_gaussian_linear(), and z2.

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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::CPose3DPDFGaussian::cov, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), mrpt::poses::CPose3DPDFGaussian::mean, mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

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