Pose3DTests Class Reference

Detailed Description

Definition at line 23 of file CPose3D_unittest.cpp.

Inheritance diagram for Pose3DTests:

Classes
struct	TParams_func_jacob_Aexpe_D

Protected Member Functions
virtual void	SetUp ()
virtual void	TearDown ()
void	test_inverse (double x1, double y1, double z1, double yaw1, double pitch1, double roll1)
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_to_from_2d (double x, double y, double phi)
void	test_composeFrom (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, bool use_aprox=false)
void	test_ExpLnEqual (double x1, double y1, double z1, double yaw1, double pitch1, double roll1)
void	test_invComposePointJacob (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, 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 (double x1, double y1, double z1, double yaw1, double pitch1, double roll1)
void	test_Jacob_dexpeD_de (double x1, double y1, double z1, double yaw1, double pitch1, double roll1)
void	test_Jacob_dAexpeD_de (double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double x2, double y2, double z2, double yaw2, double pitch2, double roll2)

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

Member Function Documentation

check_jacob_expe_e_at_0()

void Pose3DTests::check_jacob_expe_e_at_0 ( )

inlineprotected

Definition at line 547 of file CPose3D_unittest.cpp.

References mrpt::math::jacobians::jacob_numeric_estimate().

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check_jacob_LnT_T()

void Pose3DTests::check_jacob_LnT_T ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1  )

inlineprotected

Definition at line 601 of file CPose3D_unittest.cpp.

References mrpt::math::jacobians::jacob_numeric_estimate(), mrpt::math::sum(), and z1.

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func_compose_point()

static void Pose3DTests::func_compose_point ( const CArrayDouble< 6+3 > &  x, const double &  dummy, CArrayDouble< 3 > &  Y  )

inlinestaticprotected

Definition at line 270 of file CPose3D_unittest.cpp.

References MRPT_UNUSED_PARAM.

func_compose_point_se3()

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

inlinestaticprotected

Definition at line 445 of file CPose3D_unittest.cpp.

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

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func_inv_compose_point()

static void Pose3DTests::func_inv_compose_point ( const CArrayDouble< 6+3 > &  x, const double &  dummy, CArrayDouble< 3 > &  Y  )

inlinestaticprotected

Definition at line 280 of file CPose3D_unittest.cpp.

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

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func_invcompose_point_se3()

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

inlinestaticprotected

Definition at line 454 of file CPose3D_unittest.cpp.

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

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func_jacob_Aexpe_D()

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

inlinestaticprotected

Definition at line 688 of file CPose3D_unittest.cpp.

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

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func_jacob_expe_D()

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

inlinestaticprotected

Definition at line 638 of file CPose3D_unittest.cpp.

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

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func_jacob_expe_e()

static void Pose3DTests::func_jacob_expe_e ( const CArrayDouble< 6 > &  x, const double &  dummy, CArrayDouble< 12 > &  Y  )

inlinestaticprotected

Definition at line 537 of file CPose3D_unittest.cpp.

References mrpt::poses::CPose3D::exp(), and MRPT_UNUSED_PARAM.

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func_jacob_LnT_T()

static void Pose3DTests::func_jacob_LnT_T ( const CArrayDouble< 12 > &  x, const double &  dummy, CArrayDouble< 6 > &  Y  )

inlinestaticprotected

Definition at line 583 of file CPose3D_unittest.cpp.

References MRPT_UNUSED_PARAM, and R.

SetUp()

virtual void Pose3DTests::SetUp ( )

inlineprotectedvirtual

Definition at line 26 of file CPose3D_unittest.cpp.

TearDown()

virtual void Pose3DTests::TearDown ( )

inlineprotectedvirtual

Definition at line 27 of file CPose3D_unittest.cpp.

test_compose()

void Pose3DTests::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 68 of file CPose3D_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), mrpt::poses::CPose3D::getHomogeneousMatrixVal(), z1, and z2.

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test_composeFrom()

void Pose3DTests::test_composeFrom ( 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 155 of file CPose3D_unittest.cpp.

References mrpt::poses::CPose3D::composeFrom(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getAsVectorVal(), z1, and z2.

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test_composePoint()

void Pose3DTests::test_composePoint ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1, double  x, double  y, double  z  )

inlineprotected

Definition at line 217 of file CPose3D_unittest.cpp.

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

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test_composePointJacob()

void Pose3DTests::test_composePointJacob ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1, double  x, double  y, double  z, bool  use_aprox = false  )

inlineprotected

Definition at line 292 of file CPose3D_unittest.cpp.

References mrpt::poses::CPose3D::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_composePointJacob_se3()

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

inlineprotected

Definition at line 463 of file CPose3D_unittest.cpp.

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

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test_default_values()

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

inlineprotected

Definition at line 427 of file CPose3D_unittest.cpp.

test_ExpLnEqual()

void Pose3DTests::test_ExpLnEqual ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1  )

inlineprotected

Definition at line 355 of file CPose3D_unittest.cpp.

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

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test_invComposePointJacob()

void Pose3DTests::test_invComposePointJacob ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1, double  x, double  y, double  z  )

inlineprotected

Definition at line 368 of file CPose3D_unittest.cpp.

References mrpt::poses::CPose3D::inverseComposePoint(), 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_invComposePointJacob_se3()

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

inlineprotected

Definition at line 500 of file CPose3D_unittest.cpp.

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

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test_inverse()

void Pose3DTests::test_inverse ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1  )

inlineprotected

Definition at line 28 of file CPose3D_unittest.cpp.

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

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test_Jacob_dAexpeD_de()

void Pose3DTests::test_Jacob_dAexpeD_de ( 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 701 of file CPose3D_unittest.cpp.

References eps, mrpt::poses::CPose3D::jacob_dAexpeD_de(), mrpt::math::jacobians::jacob_numeric_estimate(), z1, and z2.

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test_Jacob_dexpeD_de()

void Pose3DTests::test_Jacob_dexpeD_de ( double  x1, double  y1, double  z1, double  yaw1, double  pitch1, double  roll1  )

inlineprotected

Definition at line 649 of file CPose3D_unittest.cpp.

References eps, mrpt::poses::CPose3D::jacob_dexpeD_de(), mrpt::math::jacobians::jacob_numeric_estimate(), and z1.

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test_to_from_2d()

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

inlineprotected

Definition at line 141 of file CPose3D_unittest.cpp.

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

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