Pose3DQuatPDFGaussTests Class Reference

Detailed Description

Definition at line 27 of file CPose3DQuatPDFGaussian_unittest.cpp.

Inheritance diagram for Pose3DQuatPDFGaussTests:

Protected Member Functions
virtual void	SetUp ()
virtual void	TearDown ()
void	test_toFromYPRGauss (double yaw, double pitch, double roll)
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	testInverse (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
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	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 CPose3DQuatPDFGaussian	generateRandomPoseQuat3DPDF (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
static CPose3DPDFGaussian	generateRandomPose3DPDF (double x, double y, double z, double yaw, double pitch, double roll, double std_scale)
static void	func_compose (const CArrayDouble< 2 *7 > &x, const double &dummy, CArrayDouble< 7 > &Y)
static void	func_inv_compose (const CArrayDouble< 2 *7 > &x, const double &dummy, CArrayDouble< 7 > &Y)
static void	func_inverse (const CArrayDouble< 7 > &x, const double &dummy, CArrayDouble< 7 > &Y)

Member Function Documentation

func_compose()

static void Pose3DQuatPDFGaussTests::func_compose ( const CArrayDouble< 2 *7 > &  x, const double &  dummy, CArrayDouble< 7 > &  Y  )

inlinestaticprotected

Definition at line 72 of file CPose3DQuatPDFGaussian_unittest.cpp.

References MRPT_UNUSED_PARAM.

func_inv_compose()

static void Pose3DQuatPDFGaussTests::func_inv_compose ( const CArrayDouble< 2 *7 > &  x, const double &  dummy, CArrayDouble< 7 > &  Y  )

inlinestaticprotected

Definition at line 85 of file CPose3DQuatPDFGaussian_unittest.cpp.

References MRPT_UNUSED_PARAM.

func_inverse()

static void Pose3DQuatPDFGaussTests::func_inverse ( const CArrayDouble< 7 > &  x, const double &  dummy, CArrayDouble< 7 > &  Y  )

inlinestaticprotected

Definition at line 138 of file CPose3DQuatPDFGaussian_unittest.cpp.

References MRPT_UNUSED_PARAM.

generateRandomPose3DPDF()

static CPose3DPDFGaussian Pose3DQuatPDFGaussTests::generateRandomPose3DPDF ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale  )

inlinestaticprotected

Definition at line 40 of file CPose3DQuatPDFGaussian_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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generateRandomPoseQuat3DPDF()

static CPose3DQuatPDFGaussian Pose3DQuatPDFGaussTests::generateRandomPoseQuat3DPDF ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale  )

inlinestaticprotected

Definition at line 32 of file CPose3DQuatPDFGaussian_unittest.cpp.

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

SetUp()

virtual void Pose3DQuatPDFGaussTests::SetUp ( )

inlineprotectedvirtual

Definition at line 30 of file CPose3DQuatPDFGaussian_unittest.cpp.

TearDown()

virtual void Pose3DQuatPDFGaussTests::TearDown ( )

inlineprotectedvirtual

Definition at line 31 of file CPose3DQuatPDFGaussian_unittest.cpp.

test_toFromYPRGauss()

void Pose3DQuatPDFGaussTests::test_toFromYPRGauss ( double  yaw, double  pitch, double  roll  )

inlineprotected

Definition at line 53 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DPDFGaussian::cov, mrpt::obs::gnss::pitch, and mrpt::obs::gnss::roll.

testChangeCoordsRef()

void Pose3DQuatPDFGaussTests::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 286 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DQuatPDFGaussian::cov, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), mrpt::poses::CPose3DQuatPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and z2.

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testCompositionJacobian()

void Pose3DQuatPDFGaussTests::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 148 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::math::jacobians::jacob_numeric_estimate(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, mrpt::math::sum(), mrpt::math::UNINITIALIZED_MATRIX, and z2.

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testInverse()

void Pose3DQuatPDFGaussTests::testInverse ( double  x, double  y, double  z, double  yaw, double  pitch, double  roll, double  std_scale  )

inlineprotected

Definition at line 208 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DQuatPDFGaussian::cov, mrpt::poses::CPose3DQuatPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, and mrpt::math::transform_gaussian_linear().

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testPoseComposition()

void Pose3DQuatPDFGaussTests::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 98 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DQuatPDFGaussian::cov, for(), mrpt::poses::CPose3DQuatPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, mrpt::math::transform_gaussian_linear(), and z2.

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testPoseInverseComposition()

void Pose3DQuatPDFGaussTests::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 246 of file CPose3DQuatPDFGaussian_unittest.cpp.

References mrpt::poses::CPose3DQuatPDFGaussian::cov, for(), mrpt::poses::CPose3DQuatPDFGaussian::mean, mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, mrpt::math::transform_gaussian_linear(), and z2.

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