maximum_likelihood_md_test.cpp File Reference

#include "perception_sensor_lib/data_association/maximum_likelihood_md.hpp"
#include <gtest/gtest.h>

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Functions
	TEST (MaximumLikelihoodMD, TestCase1)
	Test with mostly easy matches and a new landmark.
	TEST (MaximumLikelihoodMD, TestCase2)
	Same case as TestCase1 but with rotation.
	TEST (MaximumLikelihoodMD, TestCase3)
	Same case as TestCase2 but with translation.
	TEST (MaximumLikelihoodMD, TestCase4)
	Only new landmarks with high confidence.
	TEST (MaximumLikelihoodMD, TestCase5)
	Only new landmarks with low confidence.
	TEST (MaximumLikelihoodMD, TestCase6)
	Only new landmarks with high confidence, high covariance and empty state.
	TEST (MaximumLikelihoodMD, TestCase7)
	Empty state and observations.
	TEST (MaximumLikelihoodMD, TestCase8)
	Same case as TestCase3 but covariance is different for some landmarks.
	TEST (MaximumLikelihoodMD, TestCase9)
	Same case as TestCase3 but covariance is different for some landmarks.

Function Documentation

TEST() [1/9]

TEST	(	MaximumLikelihoodMD	,
		TestCase1
	)

Test with mostly easy matches and a new landmark.

Definition at line 9 of file maximum_likelihood_md_test.cpp.

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TEST() [2/9]

TEST	(	MaximumLikelihoodMD	,
		TestCase2
	)

Same case as TestCase1 but with rotation.

Definition at line 37 of file maximum_likelihood_md_test.cpp.

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TEST() [3/9]

TEST	(	MaximumLikelihoodMD	,
		TestCase3
	)

Same case as TestCase2 but with translation.

Definition at line 65 of file maximum_likelihood_md_test.cpp.

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TEST() [4/9]

TEST	(	MaximumLikelihoodMD	,
		TestCase4
	)

Only new landmarks with high confidence.

Definition at line 93 of file maximum_likelihood_md_test.cpp.

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TEST() [5/9]

TEST	(	MaximumLikelihoodMD	,
		TestCase5
	)

Only new landmarks with low confidence.

Definition at line 120 of file maximum_likelihood_md_test.cpp.

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TEST() [6/9]

TEST	(	MaximumLikelihoodMD	,
		TestCase6
	)

Only new landmarks with high confidence, high covariance and empty state.

Definition at line 147 of file maximum_likelihood_md_test.cpp.

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TEST() [7/9]

TEST	(	MaximumLikelihoodMD	,
		TestCase7
	)

Empty state and observations.

Definition at line 171 of file maximum_likelihood_md_test.cpp.

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TEST() [8/9]

TEST	(	MaximumLikelihoodMD	,
		TestCase8
	)

Same case as TestCase3 but covariance is different for some landmarks.

Definition at line 190 of file maximum_likelihood_md_test.cpp.

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TEST() [9/9]

TEST	(	MaximumLikelihoodMD	,
		TestCase9
	)

Same case as TestCase3 but covariance is different for some landmarks.

Definition at line 220 of file maximum_likelihood_md_test.cpp.

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