12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

No more static Local/Retract

release/4.3a0
dellaert 2015-07-16 23:47:57 -07:00
parent f5c8b07f66
commit 233fe13e60
1 changed files with 0 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
gtsam/geometry/tests/testPose3.cpp
View File

@ -471,15 +471,6 @@ TEST( Pose3, transformPose_to)
EXPECT(assert_equal(expected, actual, 0.001)); 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) TEST(Pose3, retract_localCoordinates)
{ {