sliding_window_levenberg_optimizer_test.cpp File Reference

#include "slam_solver/graph_slam_solver/optimizer/sliding_window_levenberg_optimizer.hpp"
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <yaml-cpp/yaml.h>
#include <iostream>

Include dependency graph for sliding_window_levenberg_optimizer_test.cpp:

Go to the source code of this file.

Classes
class	SlidingWindowLevenbergOptimizerTest
	Whitebox unit test for the SlidingWindowLevenbergOptimizer. More...

Functions
	TEST_F (SlidingWindowLevenbergOptimizerTest, LessPosesThanSlidingWindowJustPoses)
	Test the SlidingWindowLevenbergOptimizer.
	TEST_F (SlidingWindowLevenbergOptimizerTest, EmptyValuesAndGraph)
	Test the SlidingWindowLevenbergOptimizer.
	TEST_F (SlidingWindowLevenbergOptimizerTest, JustLandmarks)
	Test the SlidingWindowLevenbergOptimizer.
	TEST_F (SlidingWindowLevenbergOptimizerTest, LessPosesThanSlidingWindow)
	Test the SlidingWindowLevenbergOptimizer.
	TEST_F (SlidingWindowLevenbergOptimizerTest, SamePosesThanSlidingWindow)
	Test the SlidingWindowLevenbergOptimizer.
	TEST_F (SlidingWindowLevenbergOptimizerTest, MorePosesThanSlidingWindow)
	Test the SlidingWindowLevenbergOptimizer.

Function Documentation

TEST_F() [1/6]

TEST_F	(	SlidingWindowLevenbergOptimizerTest	,
		EmptyValuesAndGraph
	)

Test the SlidingWindowLevenbergOptimizer.

• no poses
• no landmarks

Definition at line 141 of file sliding_window_levenberg_optimizer_test.cpp.

TEST_F() [2/6]

TEST_F	(	SlidingWindowLevenbergOptimizerTest	,
		JustLandmarks
	)

Test the SlidingWindowLevenbergOptimizer.

• no poses
• just landmarks

Definition at line 148 of file sliding_window_levenberg_optimizer_test.cpp.

TEST_F() [3/6]

TEST_F	(	SlidingWindowLevenbergOptimizerTest	,
		LessPosesThanSlidingWindow
	)

Test the SlidingWindowLevenbergOptimizer.

• less poses than sliding window
• poses and landmarks

Definition at line 155 of file sliding_window_levenberg_optimizer_test.cpp.

TEST_F() [4/6]

TEST_F	(	SlidingWindowLevenbergOptimizerTest	,
		LessPosesThanSlidingWindowJustPoses
	)

Test the SlidingWindowLevenbergOptimizer.

• less poses than sliding window
• just poses, no landmarks

Definition at line 132 of file sliding_window_levenberg_optimizer_test.cpp.

TEST_F() [5/6]

TEST_F	(	SlidingWindowLevenbergOptimizerTest	,
		MorePosesThanSlidingWindow
	)

Test the SlidingWindowLevenbergOptimizer.

• more poses than sliding window
• poses and landmarks

Definition at line 173 of file sliding_window_levenberg_optimizer_test.cpp.

TEST_F() [6/6]

TEST_F	(	SlidingWindowLevenbergOptimizerTest	,
		SamePosesThanSlidingWindow
	)

Test the SlidingWindowLevenbergOptimizer.

• same poses than sliding window
• poses and landmarks

Definition at line 164 of file sliding_window_levenberg_optimizer_test.cpp.