MRPT  1.9.9
Functions
CMonteCarloLocalization2D_unittest.cpp File Reference
#include <gtest/gtest.h>
#include <mrpt/config/CConfigFile.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/obs/CRawlog.h>
#include <mrpt/random.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/slam/CMonteCarloLocalization2D.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/system/os.h>
#include <test_mrpt_common.h>
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Functions

void run_test_pf_localization (CPose2D &meanPose, CMatrixDouble33 &cov)
 
 TEST (MonteCarlo2D, RunSampleDataset)
 

Function Documentation

◆ run_test_pf_localization()

void run_test_pf_localization ( CPose2D meanPose,
CMatrixDouble33 cov 
)

Definition at line 37 of file CMonteCarloLocalization2D_unittest.cpp.

References mrpt::serialization::archiveFrom(), ASSERT_, mrpt::math::cov(), mrpt::DEG2RAD(), mrpt::bayes::CParticleFilter::executeOn(), mrpt::system::extractFileExtension(), mrpt::system::fileExists(), mrpt::obs::CRawlog::getActionObservationPair(), mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::random::getRandomGenerator(), ini_fil, iniFile(), mrpt::slam::TMonteCarloLocalizationParams::KLD_params, mrpt::slam::TKLDParams::loadFromConfigFile(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile(), mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile(), mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations(), mrpt::obs::CRawlog::loadFromRawLogFile(), mrpt::system::lowerCase(), mrpt::bayes::CParticleFilter::m_options, mrpt::maps::CMultiMetricMap::mapByClass(), mrpt::slam::TMonteCarloLocalizationParams::metricMap, mrpt::slam::CMonteCarloLocalization2D::options, mrpt::random::CRandomGenerator::randomize(), RAWLOG_FILE, mrpt::poses::CPosePDFParticles::resetUniform(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), mrpt::maps::CMultiMetricMap::setListOfMaps(), mrpt::maps::CSimpleMap::size(), mrpt::obs::CRawlog::size(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, and mrpt::system::CTicTac::Tic().

Referenced by TEST().

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◆ TEST()

TEST ( MonteCarlo2D  ,
RunSampleDataset   
)

Definition at line 264 of file CMonteCarloLocalization2D_unittest.cpp.

References mrpt::math::cov(), mrpt::exception_to_str(), mrpt::math::norm(), run_test_pf_localization(), and mrpt::math::MatrixBase< Scalar, Derived >::trace().

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