test_utilities.h File Reference

#include <localization_common/combined_nav_state.h>
#include <localization_common/pose_with_covariance.h>
#include <localization_common/time.h>
#include <Eigen/Geometry>
#include <gtsam/geometry/Pose3.h>
#include <gtest/gtest.h>
#include <vector>

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Classes
class	localization_common::Sampler

Namespaces
	localization_common

Macros
#define	EXPECT_MATRIX_NEAR(lhs, rhs, tol)

Functions
double	localization_common::RandomDouble ()
double	localization_common::RandomPositiveDouble ()
double	localization_common::RandomDouble (const double min, const double max)
double	localization_common::RandomGaussianDouble (const double mean, const double stddev)
bool	localization_common::RandomBool ()
Time	localization_common::RandomTime ()
double	localization_common::Noise (const double stddev)
template<int Dim>
Eigen::Matrix< double, Dim, 1 >	localization_common::RandomVector ()
Eigen::Vector3d	localization_common::RandomVector3d ()
Eigen::Vector3d	localization_common::RandomPoint3d ()
Eigen::Vector3d	localization_common::RandomVelocity ()
Eigen::Vector2d	localization_common::RandomVector2d ()
Eigen::Vector2d	localization_common::RandomPoint2d ()
template<int D>
Eigen::Matrix< double, D, D >	localization_common::RandomCovariance ()
gtsam::Pose3	localization_common::RandomPose ()
PoseCovariance	localization_common::RandomPoseCovariance ()
PoseWithCovariance	localization_common::RandomPoseWithCovariance ()
Eigen::Isometry3d	localization_common::RandomIsometry3d ()
Eigen::Affine3d	localization_common::RandomAffine3d ()
CombinedNavState	localization_common::RandomCombinedNavState ()
Eigen::Matrix3d	localization_common::RandomIntrinsics ()
Eigen::Isometry3d	localization_common::RandomIdentityCenteredIsometry3d (const double translation_stddev, const double rotation_stddev)
Eigen::Isometry3d	localization_common::AddNoiseToIsometry3d (const Eigen::Isometry3d &pose, const double translation_stddev, const double rotation_stddev)
gtsam::Pose3	localization_common::AddNoiseToPose (const gtsam::Pose3 &pose, const double translation_stddev, const double rotation_stddev)
template<int N>
Eigen::Matrix< double, N, 1 >	localization_common::AddNoiseToVector (const Eigen::Matrix< double, N, 1 > &vector, const double noise_stddev)
Eigen::Isometry3d	localization_common::RandomFrontFacingPose (const double rho_min, const double rho_max, const double phi_min, const double phi_max, const double z_rho_scale, const double yaw_min, const double yaw_max, const double pitch_min, const double pitch_max, const double roll_min, const double roll_max)
Eigen::Isometry3d	localization_common::RandomFrontFacingPose ()
std::vector< Eigen::Vector3d >	localization_common::RandomFrontFacingPoints (const int num_points)
Eigen::Vector3d	localization_common::RandomFrontFacingPoint ()
Eigen::Vector3d	localization_common::RandomFrontFacingPoint (const double rho_min, const double rho_max, const double phi_min, const double phi_max, const double z_rho_scale)
bool	localization_common::MatrixEquality (const Eigen::MatrixXd &lhs, const Eigen::MatrixXd &rhs, const double tolerance)

Macro Definition Documentation

EXPECT_MATRIX_NEAR

#define EXPECT_MATRIX_NEAR	(		lhs,
			rhs,
			tol
	)

Value:

  do { \
    EXPECT_PRED3(localization_common::MatrixEquality, lhs.matrix(), rhs.matrix(), tol); \
  } while (0)