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Got rid of header bloat

release/4.3a0
dellaert 2015-02-17 00:12:35 +01:00
parent bcd6a09c14
commit 1a9f2cb1b7
1 changed files with 6 additions and 14 deletions
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20
gtsam/slam/tests/testOrientedPlane3Factor.cpp
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@ -16,21 +16,11 @@
* @brief Tests the OrientedPlane3Factor class * @brief Tests the OrientedPlane3Factor class
*/ */
#include <gtsam/geometry/Unit3.h>
#include <gtsam/geometry/OrientedPlane3.h>
#include <gtsam/slam/OrientedPlane3Factor.h> #include <gtsam/slam/OrientedPlane3Factor.h>
#include <gtsam/nonlinear/Symbol.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/inference/FactorGraph.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/slam/PriorFactor.h> #include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/nonlinear/ISAM2.h> #include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>
#include <boost/bind.hpp> #include <boost/bind.hpp>
#include <boost/foreach.hpp> #include <boost/foreach.hpp>
@ -43,7 +33,8 @@ using namespace std;
GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3) GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3)
GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3) GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3)
TEST (OrientedPlane3, lm_translation_error) // *************************************************************************
TEST (OrientedPlane3Factor, lm_translation_error)
{ {
// Tests one pose, two measurements of the landmark that differ in range only. // Tests one pose, two measurements of the landmark that differ in range only.
// Normal along -x, 3m away // Normal along -x, 3m away
@ -87,7 +78,8 @@ TEST (OrientedPlane3, lm_translation_error)
EXPECT (assert_equal (optimized_plane_landmark, expected_plane_landmark)); EXPECT (assert_equal (optimized_plane_landmark, expected_plane_landmark));
} }
TEST (OrientedPlane3, lm_rotation_error) // *************************************************************************
TEST (OrientedPlane3Factor, lm_rotation_error)
{ {
// Tests one pose, two measurements of the landmark that differ in angle only. // Tests one pose, two measurements of the landmark that differ in angle only.
// Normal along -x, 3m away // Normal along -x, 3m away
@ -128,7 +120,7 @@ TEST (OrientedPlane3, lm_rotation_error)
} }
// ************************************************************************* // *************************************************************************
TEST( OrientedPlane3DirectionPriorFactor, Constructor ) { TEST( OrientedPlane3DirectionPrior, Constructor ) {
// Example: pitch and roll of aircraft in an ENU Cartesian frame. // Example: pitch and roll of aircraft in an ENU Cartesian frame.
// If pitch and roll are zero for an aerospace frame, // If pitch and roll are zero for an aerospace frame,