Namespace inertialsim::analysis¶

Namespace List > inertialsim > analysis

Classes¶

Type	Name
class	AllanDeviation
struct	NoiseModel

Public Functions¶

Type	Name
bool	ArrayClose (const Eigen::DenseBase< DerivedA > & test_input, const Eigen::DenseBase< DerivedB > & expected, double atol=geometry::kDefaultFpTolerance, double rtol=0.0, bool equal_nan=false) Compare if two arrays are element-wise equal within a tolerance.
bool	ArrayClose (const std::optional< Array > & test_input, const std::optional< Array > & expected, double atol=geometry::kDefaultFpTolerance, double rtol=0.0, bool equal_nan=false) Compare two optional arrays for closeness within tolerance (ArrayXd).
bool	ArrayClose (const std::optional< Matrix > & test_input, const std::optional< Matrix > & expected, double atol=geometry::kDefaultFpTolerance, double rtol=0.0, bool equal_nan=false) Compare two optional matrices for closeness within tolerance (MatrixXd).
bool	ArrayClose (const std::optional< SpecificationArray > & test_input, const std::optional< SpecificationArray > & expected, double atol=geometry::kDefaultFpTolerance, double rtol=0.0, bool equal_nan=false) Compare two optional specification arrays for closeness within tolerance.
bool	ArrayEqual (const Eigen::DenseBase< DerivedA > & test_input, const Eigen::DenseBase< DerivedB > & expected, bool equal_nan=false) Compare for strict equality of two arrays (shape and contents).
bool	ArrayEqual (const std::optional< Array > & test_input, const std::optional< Array > & expected, bool equal_nan=false) Compare two optional arrays for strict equality (ArrayXd).
bool	ArrayEqual (const std::optional< Matrix > & test_input, const std::optional< Matrix > & expected, bool equal_nan=false) Compare two optional arrays for strict equality (MatrixXd).
bool	ArrayEqual (const std::optional< SpecificationArray > & test_input, const std::optional< SpecificationArray > & expected, bool equal_nan=false) Compare two optional specification arrays for strict equality.

Public Functions Documentation¶

function ArrayClose¶

Compare if two arrays are element-wise equal within a tolerance.

template<typename DerivedA, typename DerivedB>
bool inertialsim::analysis::ArrayClose (
    const Eigen::DenseBase< DerivedA > & test_input,
    const Eigen::DenseBase< DerivedB > & expected,
    double atol=geometry::kDefaultFpTolerance,
    double rtol=0.0,
    bool equal_nan=false
)

Matches the behavior of numpy.allclose. absolute(a - b) <= (atol + rtol * absolute(b))

Parameters:

test_input Test array.
expected Reference array.
atol Absolute tolerance. Defaults to geometry::kDefaultFpTolerance.
rtol Relative tolerance. Defaults to 0.0 for exact comparison.
equal_nan Consider NaNs as equal.

Returns:

True if arrays are equal within tolerance.

function ArrayClose¶

Compare two optional arrays for closeness within tolerance (ArrayXd).

inline bool inertialsim::analysis::ArrayClose (
    const std::optional< Array > & test_input,
    const std::optional< Array > & expected,
    double atol=geometry::kDefaultFpTolerance,
    double rtol=0.0,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayClose.

Parameters:

test_input Optional test array.
expected Optional reference array.
atol Absolute tolerance.
rtol Relative tolerance.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have values close within tolerance.

function ArrayClose¶

Compare two optional matrices for closeness within tolerance (MatrixXd).

inline bool inertialsim::analysis::ArrayClose (
    const std::optional< Matrix > & test_input,
    const std::optional< Matrix > & expected,
    double atol=geometry::kDefaultFpTolerance,
    double rtol=0.0,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayClose.

Parameters:

test_input Optional test matrix.
expected Optional reference matrix.
atol Absolute tolerance.
rtol Relative tolerance.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have values close within tolerance.

function ArrayClose¶

Compare two optional specification arrays for closeness within tolerance.

inline bool inertialsim::analysis::ArrayClose (
    const std::optional< SpecificationArray > & test_input,
    const std::optional< SpecificationArray > & expected,
    double atol=geometry::kDefaultFpTolerance,
    double rtol=0.0,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayClose.

Parameters:

test_input Optional test array.
expected Optional reference array.
atol Absolute tolerance.
rtol Relative tolerance.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have values close within tolerance.

function ArrayEqual¶

Compare for strict equality of two arrays (shape and contents).

template<typename DerivedA, typename DerivedB>
bool inertialsim::analysis::ArrayEqual (
    const Eigen::DenseBase< DerivedA > & test_input,
    const Eigen::DenseBase< DerivedB > & expected,
    bool equal_nan=false
)

Parameters:

test_input Test array.
expected Reference array.
equal_nan Consider NaNs as equal.

Returns:

True if test_input and expected are equal.

function ArrayEqual¶

Compare two optional arrays for strict equality (ArrayXd).

inline bool inertialsim::analysis::ArrayEqual (
    const std::optional< Array > & test_input,
    const std::optional< Array > & expected,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayEqual.

Parameters:

test_input Optional test array.
expected Optional reference array.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have equal values.

function ArrayEqual¶

Compare two optional arrays for strict equality (MatrixXd).

inline bool inertialsim::analysis::ArrayEqual (
    const std::optional< Matrix > & test_input,
    const std::optional< Matrix > & expected,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayEqual.

Parameters:

test_input Optional test matrix.
expected Optional reference matrix.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have equal values.

function ArrayEqual¶

Compare two optional specification arrays for strict equality.

inline bool inertialsim::analysis::ArrayEqual (
    const std::optional< SpecificationArray > & test_input,
    const std::optional< SpecificationArray > & expected,
    bool equal_nan=false
)

If both are std::nullopt, returns true. If one is std::nullopt and the other isn't, returns false. Otherwise, compares the values using ArrayEqual.

Parameters:

test_input Optional test array.
expected Optional reference array.
equal_nan Consider NaNs as equal.

Returns:

True if both nullopt or both have equal values.

The documentation for this class was generated from the following file cpp/include/inertialsim/analysis/allan_deviation.h