From 233fe13e60456b5a29df248cc042d78c09989e14 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 16 Jul 2015 23:47:57 -0700 Subject: [PATCH] No more static Local/Retract --- gtsam/geometry/tests/testPose3.cpp | 9 --------- 1 file changed, 9 deletions(-) diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp index f6f8b7b40..50c143bb9 100644 --- a/gtsam/geometry/tests/testPose3.cpp +++ b/gtsam/geometry/tests/testPose3.cpp @@ -471,15 +471,6 @@ TEST( Pose3, transformPose_to) EXPECT(assert_equal(expected, actual, 0.001)); } -/* ************************************************************************* */ -TEST(Pose3, Retract_LocalCoordinates) -{ - Vector6 d; - d << 1,2,3,4,5,6; d/=10; - R = Rot3::Retract(d.head<3>()); - Pose3 t = Pose3::Retract(d); - EXPECT(assert_equal(d, Pose3::LocalCoordinates(t))); -} /* ************************************************************************* */ TEST(Pose3, retract_localCoordinates) {