Detailed Description

Definition at line 24 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 564 of file CPose3D_unittest.cpp.

References mrpt::math::estimateJacobian().

◆ 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 619 of file CPose3D_unittest.cpp.

References mrpt::math::estimateJacobian(), and mrpt::math::sum().

◆ func_compose_point()

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

inlinestaticprotected

Definition at line 281 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 459 of file CPose3D_unittest.cpp.

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

◆ 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 291 of file CPose3D_unittest.cpp.

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

◆ 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 468 of file CPose3D_unittest.cpp.

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

◆ 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 708 of file CPose3D_unittest.cpp.

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

◆ 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 657 of file CPose3D_unittest.cpp.

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

◆ 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 553 of file CPose3D_unittest.cpp.

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

◆ 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 601 of file CPose3D_unittest.cpp.

References MRPT_UNUSED_PARAM, and R.

◆ SetUp()

virtual void Pose3DTests::SetUp ( )

inlineprotectedvirtual

Definition at line 27 of file CPose3D_unittest.cpp.

◆ TearDown()

virtual void Pose3DTests::TearDown ( )

inlineprotectedvirtual

Definition at line 28 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 71 of file CPose3D_unittest.cpp.

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

◆ 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 163 of file CPose3D_unittest.cpp.

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

◆ 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 225 of file CPose3D_unittest.cpp.

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

◆ 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 303 of file CPose3D_unittest.cpp.

References mrpt::poses::CPose3D::composePoint(), mrpt::math::estimateJacobian(), mrpt::math::sum(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ test_composePointJacob_se3()

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

inlineprotected

Definition at line 477 of file CPose3D_unittest.cpp.

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

◆ test_default_values()

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

inlineprotected

Definition at line 440 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 367 of file CPose3D_unittest.cpp.

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

◆ 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 380 of file CPose3D_unittest.cpp.

References mrpt::math::estimateJacobian(), mrpt::poses::CPose3D::inverseComposePoint(), mrpt::math::sum(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ test_invComposePointJacob_se3()

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

inlineprotected

Definition at line 515 of file CPose3D_unittest.cpp.

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

◆ test_inverse()

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

inlineprotected

Definition at line 29 of file CPose3D_unittest.cpp.

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

◆ 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 721 of file CPose3D_unittest.cpp.

References eps, mrpt::math::estimateJacobian(), and mrpt::poses::CPose3D::jacob_dAexpeD_de().

◆ 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 668 of file CPose3D_unittest.cpp.

References eps, mrpt::math::estimateJacobian(), and mrpt::poses::CPose3D::jacob_dexpeD_de().

◆ test_to_from_2d()

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

inlineprotected

Definition at line 149 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().

Detailed Description

Classes

Protected Member Functions

Static Protected Member Functions

Member Function Documentation

◆ check_jacob_expe_e_at_0()

◆ check_jacob_LnT_T()

◆ func_compose_point()

◆ func_compose_point_se3()

◆ func_inv_compose_point()

◆ func_invcompose_point_se3()

◆ func_jacob_Aexpe_D()

◆ func_jacob_expe_D()

◆ func_jacob_expe_e()

◆ func_jacob_LnT_T()

◆ SetUp()

◆ TearDown()

◆ test_compose()

◆ test_composeFrom()

◆ test_composePoint()

◆ test_composePointJacob()

◆ test_composePointJacob_se3()

◆ test_default_values()

◆ test_ExpLnEqual()

◆ test_invComposePointJacob()

◆ test_invComposePointJacob_se3()

◆ test_inverse()

◆ test_Jacob_dAexpeD_de()

◆ test_Jacob_dexpeD_de()

◆ test_to_from_2d()