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Reformat Unit3 test

release/4.3a0
Toni 2019-01-15 17:51:58 -05:00
parent 5c4e5a4b23
commit 21163e9bdc
1 changed files with 1 additions and 5 deletions
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6
gtsam/geometry/tests/testUnit3.cpp
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@ -373,23 +373,19 @@ TEST(Unit3, retract) {
//******************************************************************************* //*******************************************************************************
TEST (Unit3, jacobian_retract) { TEST (Unit3, jacobian_retract) {
Matrix22 H;
Unit3 p; Unit3 p;
boost::function<Unit3(const Vector2&)> f = boost::function<Unit3(const Vector2&)> f =
boost::bind(&Unit3::retract, p, _1, boost::none); boost::bind(&Unit3::retract, p, _1, boost::none);
Matrix22 H;
{ {
Vector2 v (-0.2, 0.1); Vector2 v (-0.2, 0.1);
p.retract(v, H); p.retract(v, H);
// Test that jacobian is numerically as expected.
Matrix H_expected_numerical = numericalDerivative11(f, v); Matrix H_expected_numerical = numericalDerivative11(f, v);
EXPECT(assert_equal(H_expected_numerical, H, 1e-9)); EXPECT(assert_equal(H_expected_numerical, H, 1e-9));
} }
{ {
Vector2 v (0, 0); Vector2 v (0, 0);
p.retract(v, H); p.retract(v, H);
// Test that jacobian is numerically as expected.
Matrix H_expected_numerical = numericalDerivative11(f, v); Matrix H_expected_numerical = numericalDerivative11(f, v);
EXPECT(assert_equal(H_expected_numerical, H, 1e-9)); EXPECT(assert_equal(H_expected_numerical, H, 1e-9));
} }