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Pose3DQuatTests Class Reference

Detailed Description

Definition at line 25 of file CPose3DQuat_unittest.cpp.

Inheritance diagram for Pose3DQuatTests:
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Protected Member Functions

virtual void SetUp ()
 
virtual void TearDown ()
 
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 CArrayDouble< 7+3 > &x, const double &dummy, CArrayDouble< 3 > &Y)
 
static void func_inv_compose_point (const CArrayDouble< 7+3 > &x, const double &dummy, CArrayDouble< 3 > &Y)
 
static void func_spherical_coords (const CArrayDouble< 7+3 > &x, const double &dummy, CArrayDouble< 3 > &Y)
 
static void func_normalizeJacob (const CArrayDouble< 4 > &x, const double &dummy, CArrayDouble< 4 > &Y)
 

Member Function Documentation

◆ func_compose_point()

static void Pose3DQuatTests::func_compose_point ( const CArrayDouble< 7+3 > &  x,
const double &  dummy,
CArrayDouble< 3 > &  Y 
)
inlinestaticprotected

Definition at line 127 of file CPose3DQuat_unittest.cpp.

References MRPT_UNUSED_PARAM.

◆ func_inv_compose_point()

static void Pose3DQuatTests::func_inv_compose_point ( const CArrayDouble< 7+3 > &  x,
const double &  dummy,
CArrayDouble< 3 > &  Y 
)
inlinestaticprotected

Definition at line 228 of file CPose3DQuat_unittest.cpp.

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

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◆ func_normalizeJacob()

static void Pose3DQuatTests::func_normalizeJacob ( const CArrayDouble< 4 > &  x,
const double &  dummy,
CArrayDouble< 4 > &  Y 
)
inlinestaticprotected

Definition at line 533 of file CPose3DQuat_unittest.cpp.

References MRPT_UNUSED_PARAM.

◆ func_spherical_coords()

static void Pose3DQuatTests::func_spherical_coords ( const CArrayDouble< 7+3 > &  x,
const double &  dummy,
CArrayDouble< 3 > &  Y 
)
inlinestaticprotected

Definition at line 463 of file CPose3DQuat_unittest.cpp.

References MRPT_UNUSED_PARAM.

◆ SetUp()

virtual void Pose3DQuatTests::SetUp ( )
inlineprotectedvirtual

Definition at line 28 of file CPose3DQuat_unittest.cpp.

◆ TearDown()

virtual void Pose3DQuatTests::TearDown ( )
inlineprotectedvirtual

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 >::getAsVectorVal(), z1, and z2.

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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 400 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPose3DQuat::composePoint(), mrpt::poses::CPose3DQuat::inverseComposePoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, mrpt::math::TPoint3D::z, and z1.

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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 103 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), and z1.

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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 414 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPose3DQuat::composePoint(), mrpt::poses::CPose3D::composePoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, mrpt::math::TPoint3D::z, and z1.

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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 139 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPose3DQuat::composePoint(), mrpt::math::jacobians::jacob_numeric_estimate(), mrpt::math::sum(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, mrpt::math::TPoint3D::z, and z1.

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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 379 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getHomogeneousMatrixVal(), and z1.

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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 329 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), mrpt::poses::CPose3D::getHomogeneousMatrixVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getHomogeneousMatrixVal(), and z1.

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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 198 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), and z1.

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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 429 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPose3DQuat::inverseComposePoint(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3D::sphericalCoordinates(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, mrpt::math::TPoint3D::z, and z1.

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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 242 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPose3DQuat::inverseComposePoint(), mrpt::math::jacobians::jacob_numeric_estimate(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::math::square(), mrpt::math::sum(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::CQuaternion< T >::x(), mrpt::math::TPoint3D::x, mrpt::math::CQuaternion< T >::y(), mrpt::math::TPoint3D::y, mrpt::math::CQuaternion< T >::z(), mrpt::math::TPoint3D::z, and z1.

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◆ test_normalizeJacob()

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

Definition at line 543 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPose3D::getAsQuaternion(), mrpt::math::jacobians::jacob_numeric_estimate(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::math::sum(), 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 474 of file CPose3DQuat_unittest.cpp.

References mrpt::math::jacobians::jacob_numeric_estimate(), mrpt::poses::CPose3DQuat::sphericalCoordinates(), mrpt::math::sum(), mrpt::math::UNINITIALIZED_MATRIX, and z1.

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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 356 of file CPose3DQuat_unittest.cpp.

References mrpt::poses::CPose3D::getHomogeneousMatrixVal(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getHomogeneousMatrixVal(), and z1.

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