Main MRPT website > C++ reference for MRPT 1.9.9
List of all members | Classes | Protected Member Functions | Static Protected Member Functions
Pose3DTests Class Reference

Detailed Description

Definition at line 24 of file CPose3D_unittest.cpp.

Inheritance diagram for Pose3DTests:
Inheritance graph

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

◆ 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

◆ func_jacob_expe_D()

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

◆ 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

◆ 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

◆ 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

◆ 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

◆ test_composePointJacob_se3()

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

◆ 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

◆ 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

◆ test_invComposePointJacob_se3()

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

◆ test_inverse()

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

◆ 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

◆ test_Jacob_dexpeD_de()

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

◆ test_to_from_2d()

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



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ad3a9d8ae Tue May 1 23:10:22 2018 -0700 at lun oct 28 00:14:14 CET 2019