MRPT  1.9.9
Typedefs | Functions | Variables
ICP_SLAM_App_unittest.cpp File Reference
#include <gtest/gtest.h>
#include <mrpt/apps/ICP_SLAM_App.h>
#include <mrpt/poses/Lie/SE.h>
#include <mrpt/system/filesystem.h>
#include <test_mrpt_common.h>
#include <iostream>
Include dependency graph for ICP_SLAM_App_unittest.cpp:

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Typedefs

using config_changer_t = std::function< void(mrpt::config::CConfigFileBase &)>
 
using post_tester_t = std::function< void(mrpt::apps::ICP_SLAM_App_Base &)>
 

Functions

template<class SLAM_CLASS >
void generic_icp_slam_test (const std::string &ini_filename, const std::string &rawlog_filename, config_changer_t cfg_changer, post_tester_t post_tester)
 
 TEST (ICP_SLAM_App, MapFromRawlog_PointMap)
 
 TEST (ICP_SLAM_App, MapFromRawlog_Grid)
 
 TEST (ICP_SLAM_App, MapFromRawlog_LM)
 

Variables

static auto tester_for_2006_01_21
 

Typedef Documentation

◆ config_changer_t

using config_changer_t = std::function<void(mrpt::config::CConfigFileBase&)>

Definition at line 17 of file ICP_SLAM_App_unittest.cpp.

◆ post_tester_t

using post_tester_t = std::function<void(mrpt::apps::ICP_SLAM_App_Base&)>

Definition at line 18 of file ICP_SLAM_App_unittest.cpp.

Function Documentation

◆ generic_icp_slam_test()

template<class SLAM_CLASS >
void generic_icp_slam_test ( const std::string &  ini_filename,
const std::string &  rawlog_filename,
config_changer_t  cfg_changer,
post_tester_t  post_tester 
)

Definition at line 21 of file ICP_SLAM_App_unittest.cpp.

References argc, argv, mrpt::exception_to_str(), EXPECT_TRUE(), mrpt::system::fileExists(), mrpt::system::getTempFileName(), ini_fil, and mrpt::system::LVL_WARN.

Here is the call graph for this function:

◆ TEST() [1/3]

TEST ( ICP_SLAM_App  ,
MapFromRawlog_PointMap   
)

Definition at line 80 of file ICP_SLAM_App_unittest.cpp.

References tester_for_2006_01_21.

◆ TEST() [2/3]

TEST ( ICP_SLAM_App  ,
MapFromRawlog_Grid   
)

Definition at line 90 of file ICP_SLAM_App_unittest.cpp.

References tester_for_2006_01_21.

◆ TEST() [3/3]

TEST ( ICP_SLAM_App  ,
MapFromRawlog_LM   
)

Definition at line 100 of file ICP_SLAM_App_unittest.cpp.

References tester_for_2006_01_21.

Variable Documentation

◆ tester_for_2006_01_21

auto tester_for_2006_01_21
static
Initial value:
EXPECT_EQ(o.out_estimated_path.size(), 224U);
const auto p = mrpt::poses::CPose3D(o.out_estimated_path.rbegin()->second);
"[3.4548 -18.0399 0.000000 -86.48 0.000000 0.000000]");
<< "actual pose =" << p.asString()
<< "\nexpected pose=" << p_gt.asString();
}
EXPECT_LT(out.final_rmse, 3.0)
static CPose3D FromString(const std::string &s)
Definition: CPose3D.h:644
ICP-SLAM virtual base class for application wrappers.
Definition: ICP_SLAM_App.h:31
Traits for SE(n), rigid-body transformations in R^n space.
Definition: SE.h:30
void asString(std::string &s) const
Returns a human-readable textual representation of the object (eg: "[x y z yaw pitch roll]"...
Definition: CPose3D.h:618
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:85
EXPECT_EQ(out.image_pair_was_used.size(), NUM_IMGS)
CONTAINER::Scalar norm(const CONTAINER &v)

Definition at line 69 of file ICP_SLAM_App_unittest.cpp.

Referenced by TEST().




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