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Uncommented some SO3 tests

release/4.3a0
dellaert 2015-02-10 22:42:42 +01:00
parent 87e45fa306
commit 1494b43448
2 changed files with 11 additions and 12 deletions
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10
gtsam/base/testLie.h
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@ -38,19 +38,19 @@ void testLieGroupDerivatives(TestResult& result_, const std::string& name_,
// Inverse
OJ none;
EXPECT(assert_equal(t1.inverse(),T::Inverse(t1, H1)));
EXPECT(assert_equal<G>(t1.inverse(),T::Inverse(t1, H1)));
EXPECT(assert_equal(numericalDerivative21<G,G,OJ>(T::Inverse, t1, none),H1));
EXPECT(assert_equal(t2.inverse(),T::Inverse(t2, H1)));
EXPECT(assert_equal<G>(t2.inverse(),T::Inverse(t2, H1)));
EXPECT(assert_equal(numericalDerivative21<G,G,OJ>(T::Inverse, t2, none),H1));
// Compose
EXPECT(assert_equal(t1 * t2,T::Compose(t1, t2, H1, H2)));
EXPECT(assert_equal<G>(t1 * t2,T::Compose(t1, t2, H1, H2)));
EXPECT(assert_equal(numericalDerivative41<G,G,G,OJ,OJ>(T::Compose, t1, t2, none, none), H1));
EXPECT(assert_equal(numericalDerivative42<G,G,G,OJ,OJ>(T::Compose, t1, t2, none, none), H2));
// Between
EXPECT(assert_equal(t1.inverse() * t2,T::Between(t1, t2, H1, H2)));
EXPECT(assert_equal<G>(t1.inverse() * t2,T::Between(t1, t2, H1, H2)));
EXPECT(assert_equal(numericalDerivative41<G,G,G,OJ,OJ>(T::Between, t1, t2, none, none), H1));
EXPECT(assert_equal(numericalDerivative42<G,G,G,OJ,OJ>(T::Between, t1, t2, none, none), H2));
}
@ -67,7 +67,7 @@ void testChartDerivatives(TestResult& result_, const std::string& name_,
// Retract
OJ none;
V w12 = T::Local(t1, t2);
EXPECT(assert_equal(t2, T::Retract(t1,w12, H1, H2)));
EXPECT(assert_equal<G>(t2, T::Retract(t1,w12, H1, H2)));
EXPECT(assert_equal(numericalDerivative41<G,G,V,OJ,OJ>(T::Retract, t1, w12, none, none), H1));
EXPECT(assert_equal(numericalDerivative42<G,G,V,OJ,OJ>(T::Retract, t1, w12, none, none), H2));

13
gtsam/geometry/tests/testSO3.cpp
View File

@ -66,16 +66,15 @@ TEST(SO3 , Invariants) {
check_manifold_invariants(id,R1);
check_manifold_invariants(R2,id);
check_manifold_invariants(R2,R1);
}
//******************************************************************************
//TEST(SO3 , LieGroupDerivatives) {
// CHECK_LIE_GROUP_DERIVATIVES(id,id);
// CHECK_LIE_GROUP_DERIVATIVES(id,R2);
// CHECK_LIE_GROUP_DERIVATIVES(R2,id);
// CHECK_LIE_GROUP_DERIVATIVES(R2,R1);
//}
TEST(SO3 , LieGroupDerivatives) {
CHECK_LIE_GROUP_DERIVATIVES(id,id);
CHECK_LIE_GROUP_DERIVATIVES(id,R2);
CHECK_LIE_GROUP_DERIVATIVES(R2,id);
CHECK_LIE_GROUP_DERIVATIVES(R2,R1);
}
//******************************************************************************
TEST(SO3 , ChartDerivatives) {