Implementation. More...

#include "TestIMU_Common.h"
#include "FlexibleUnscentedCorrect.h"
#include <Eigen/Eigenvalues>

Enumerations
enum	Axis : std::size_t { X = 0, Y = 1, Z = 2 }

Functions
template<typename Derived >
bool	isPositiveDefinite (MatrixBase< Derived > const &m)

template<typename Derived >
void	checkSigmaPoints (MatrixBase< Derived > const &m)

template<typename Derived >
void	thenCheckCovariance (MatrixBase< Derived > const &c)

template<typename Reconstruction >
void	thenCheckReconstruction (Reconstruction const &recon)

template<typename Reconstruction >
void	andThenCheckReconstruction (Reconstruction const &recon)

template<typename GeneratorType >
void	generatorChecks (GeneratorType const &gen)

template<typename GeneratorType >
void	thenCheckSigmaPointGenerator (GeneratorType const &gen)

template<typename GeneratorType >
void	andThenCheckSigmaPointGenerator (GeneratorType const &gen)

	TEST_CASE ("Sigma point reconstruction validity")

double	zeroOrValueForAxis (Axis rotationAxis, Axis currentAxis, double value)

Vector3d	ZeroVec3dExceptAtAxis (Axis rotationAxis, double value)

Vector3d	Vec3dSmallValueAt (Axis rotationAxis)

Vector3d	Vec3dUnit (Axis rotationAxis)

double	getSignCorrect (bool positive)

template<typename MeasurementType , typename InProgressType >
void	commonSmallSingleAxisChecks (TestData *data, MeasurementType &kalmanMeas, InProgressType &inProgress, Axis const rotationAxis, bool const positive=true)

template<typename MeasurementType >
void	unscentedSmallSingleAxisChecks (TestData *data, MeasurementType &kalmanMeas, Axis rotationAxis, bool positive=true)

template<typename MeasurementType >
void	checkEffectiveIdentityMeasurement (TestData *data, MeasurementType &kalmanMeas)

template<typename F , typename... Args>
void	allSmallSingleAxisRotations (F &&f, Args &&... args)

	TEST_CASE ("unscented with identity calibration output", "[ukf]")

	TEST_CASE ("unscented with small x rotation calibration output", "[ukf]")

	TEST_CASE ("conceptual transformation orders")

Detailed Description

Implementation.

Date: 2016

Author: Sensics, Inc. http://sensics.com/osvr

Function Documentation

§ commonSmallSingleAxisChecks()

template<typename MeasurementType , typename InProgressType >

void commonSmallSingleAxisChecks	(	TestData *	data,
		MeasurementType &	kalmanMeas,
		InProgressType &	inProgress,
		Axis const	rotationAxis,
		bool const	positive = `true`
	)

inline

This is our rotation axis - correction should be in (0, SMALL_VALUE)

Not our rotation axis, correction should be approx 0.

This is our rotation axis - correction should be >= 0 if positive rotation.

Not our rotation axis, correction should be approx 0.

§ isPositiveDefinite()

template<typename Derived >

bool isPositiveDefinite ( MatrixBase< Derived > const & m )

inline

not square!

Not symmetric!

§ TEST_CASE() [1/2]

TEST_CASE	(	"unscented with identity calibration output"	,
		""	[ukf]
	)

Do the rest of the checks for a small rotation about y

§ TEST_CASE() [2/2]

TEST_CASE	(	"unscented with small x rotation calibration output"	,
		""	[ukf]
	)

Do the rest of the checks for a small rotation about a single axis