SlidingWindowLevenbergOptimizerTest Class Reference

Whitebox unit test for the SlidingWindowLevenbergOptimizer. More...

Inheritance diagram for SlidingWindowLevenbergOptimizerTest:

Collaboration diagram for SlidingWindowLevenbergOptimizerTest:

Public Member Functions
	SlidingWindowLevenbergOptimizerTest ()

Protected Member Functions
void	SetUp () override
void	TearDown () override
void	test_sliding_window (unsigned int num_poses, unsigned int num_landmarks, unsigned int window_size)
	Test the SlidingWindowLevenbergOptimizer.

Protected Attributes
gtsam::NonlinearFactorGraph	factor_graph
gtsam::Values	graph_values
SLAMParameters	params
std::shared_ptr< SlidingWindowLevenbergOptimizer >	optimizer

Detailed Description

Whitebox unit test for the SlidingWindowLevenbergOptimizer.

Definition at line 16 of file sliding_window_levenberg_optimizer_test.cpp.

Constructor & Destructor Documentation

SlidingWindowLevenbergOptimizerTest()

SlidingWindowLevenbergOptimizerTest::SlidingWindowLevenbergOptimizerTest ( )

inline

Definition at line 18 of file sliding_window_levenberg_optimizer_test.cpp.

Member Function Documentation

SetUp()

void SlidingWindowLevenbergOptimizerTest::SetUp ( )

inlineoverrideprotected

Definition at line 26 of file sliding_window_levenberg_optimizer_test.cpp.

TearDown()

void SlidingWindowLevenbergOptimizerTest::TearDown ( )

inlineoverrideprotected

Definition at line 33 of file sliding_window_levenberg_optimizer_test.cpp.

test_sliding_window()

void SlidingWindowLevenbergOptimizerTest::test_sliding_window ( unsigned int  num_poses, unsigned int  num_landmarks, unsigned int  window_size  )

inlineprotected

Test the SlidingWindowLevenbergOptimizer.

• num_poses: number of poses to add to the graph
• num_landmarks: number of landmarks to add to the graph
• window_size: size of the sliding window
• This test will add a specified number of poses and landmarks to the graph, add between factors and bearing range factors, and then optimize the graph using the SlidingWindowLevenbergOptimizer.
• It will check that the optimized values have changed, using wild values and factors.
• NOTE: if the test is issuing an error, it is possible that, despite weird values, the optimized value is the same as the input value.

Definition at line 51 of file sliding_window_levenberg_optimizer_test.cpp.

Member Data Documentation

factor_graph

gtsam::NonlinearFactorGraph SlidingWindowLevenbergOptimizerTest::factor_graph

protected

Definition at line 21 of file sliding_window_levenberg_optimizer_test.cpp.

graph_values

gtsam::Values SlidingWindowLevenbergOptimizerTest::graph_values

protected

Definition at line 22 of file sliding_window_levenberg_optimizer_test.cpp.

optimizer

std::shared_ptr<SlidingWindowLevenbergOptimizer> SlidingWindowLevenbergOptimizerTest::optimizer

protected

Definition at line 24 of file sliding_window_levenberg_optimizer_test.cpp.

params

SLAMParameters SlidingWindowLevenbergOptimizerTest::params

protected

Definition at line 23 of file sliding_window_levenberg_optimizer_test.cpp.

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The documentation for this class was generated from the following file:

• src/slam/test/slam_solver/graph_slam_solver/optimizer/sliding_window_levenberg_optimizer_test.cpp