farm-ng-core
Public Types | Public Member Functions | Public Attributes | Static Public Attributes | List of all members
sophus::test::CeresManifoldTests< TLieGroup > Struct Template Reference

Public Types

template<class TScalar >
using LieGroup = TLieGroup< TScalar >
 
using LieGroupF64 = LieGroup< double >
 
using PointF64 = Eigen::Vector< double, kPointDim >
 
using TangentF64 = Eigen::Vector< double, kDof >
 

Public Member Functions

 CeresManifoldTests (std::vector< LieGroupF64 > const &group_vec, std::vector< PointF64 > const &point_vec, std::string group_name)
 
void testAll ()
 
bool testManifold (LieGroupF64 const &x, LieGroupF64 const &y)
 
void xPlusZeroIsXAt (LieGroupF64 const &x)
 
void xMinusXIsZeroAt (LieGroupF64 const &x)
 
void minusPlusIsIdentityAt (LieGroupF64 const &x, TangentF64 const &delta)
 
void plusMinusIsIdentityAt (LieGroupF64 const &x, LieGroupF64 const &y)
 
void minusPlusJacobianIsIdentityAt (LieGroupF64 const &x)
 

Public Attributes

std::vector< LieGroupF64 > group_vec
 
std::vector< PointF64 > point_vec
 
std::string group_name
 

Static Public Attributes

static constexpr int kDof = LieGroupF64::kDof
 
static constexpr int kNumParams = LieGroupF64::kNumParams
 
static constexpr int kPointDim = LieGroupF64::kPointDim
 

Member Typedef Documentation

◆ LieGroup

template<template< class > class TLieGroup>
template<class TScalar >
using sophus::test::CeresManifoldTests< TLieGroup >::LieGroup = TLieGroup<TScalar>

◆ LieGroupF64

template<template< class > class TLieGroup>
using sophus::test::CeresManifoldTests< TLieGroup >::LieGroupF64 = LieGroup<double>

◆ PointF64

template<template< class > class TLieGroup>
using sophus::test::CeresManifoldTests< TLieGroup >::PointF64 = Eigen::Vector<double, kPointDim>

◆ TangentF64

template<template< class > class TLieGroup>
using sophus::test::CeresManifoldTests< TLieGroup >::TangentF64 = Eigen::Vector<double, kDof>

Constructor & Destructor Documentation

◆ CeresManifoldTests()

template<template< class > class TLieGroup>
sophus::test::CeresManifoldTests< TLieGroup >::CeresManifoldTests ( std::vector< LieGroupF64 > const &  group_vec,
std::vector< PointF64 > const &  point_vec,
std::string  group_name 
)
inline

Member Function Documentation

◆ minusPlusIsIdentityAt()

template<template< class > class TLieGroup>
void sophus::test::CeresManifoldTests< TLieGroup >::minusPlusIsIdentityAt ( LieGroupF64 const &  x,
TangentF64 const &  delta 
)
inline

◆ minusPlusJacobianIsIdentityAt()

template<template< class > class TLieGroup>
void sophus::test::CeresManifoldTests< TLieGroup >::minusPlusJacobianIsIdentityAt ( LieGroupF64 const &  x)
inline

◆ plusMinusIsIdentityAt()

template<template< class > class TLieGroup>
void sophus::test::CeresManifoldTests< TLieGroup >::plusMinusIsIdentityAt ( LieGroupF64 const &  x,
LieGroupF64 const &  y 
)
inline

◆ testAll()

template<template< class > class TLieGroup>
void sophus::test::CeresManifoldTests< TLieGroup >::testAll ( )
inline

◆ testManifold()

template<template< class > class TLieGroup>
bool sophus::test::CeresManifoldTests< TLieGroup >::testManifold ( LieGroupF64 const &  x,
LieGroupF64 const &  y 
)
inline

◆ xMinusXIsZeroAt()

template<template< class > class TLieGroup>
void sophus::test::CeresManifoldTests< TLieGroup >::xMinusXIsZeroAt ( LieGroupF64 const &  x)
inline

◆ xPlusZeroIsXAt()

template<template< class > class TLieGroup>
void sophus::test::CeresManifoldTests< TLieGroup >::xPlusZeroIsXAt ( LieGroupF64 const &  x)
inline

Member Data Documentation

◆ group_name

template<template< class > class TLieGroup>
std::string sophus::test::CeresManifoldTests< TLieGroup >::group_name

◆ group_vec

template<template< class > class TLieGroup>
std::vector<LieGroupF64> sophus::test::CeresManifoldTests< TLieGroup >::group_vec

◆ kDof

template<template< class > class TLieGroup>
constexpr int sophus::test::CeresManifoldTests< TLieGroup >::kDof = LieGroupF64::kDof
staticconstexpr

◆ kNumParams

template<template< class > class TLieGroup>
constexpr int sophus::test::CeresManifoldTests< TLieGroup >::kNumParams = LieGroupF64::kNumParams
staticconstexpr

◆ kPointDim

template<template< class > class TLieGroup>
constexpr int sophus::test::CeresManifoldTests< TLieGroup >::kPointDim = LieGroupF64::kPointDim
staticconstexpr

◆ point_vec

template<template< class > class TLieGroup>
std::vector<PointF64> sophus::test::CeresManifoldTests< TLieGroup >::point_vec
The documentation for this struct was generated from the following file: