From 25f95ed22fc6205550f0dba530f4be739e97d712 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 21 Dec 2014 15:04:29 +0100
Subject: [PATCH] Additional checking

---
 gtsam/geometry/tests/testQuaternion.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/tests/testQuaternion.cpp b/gtsam/geometry/tests/testQuaternion.cpp
index 2eff36bb6..a3d18ba20 100644
--- a/gtsam/geometry/tests/testQuaternion.cpp
+++ b/gtsam/geometry/tests/testQuaternion.cpp
@@ -27,8 +27,8 @@ typedef traits_x<Q>::ChartJacobian QuaternionJacobian;
 
 //******************************************************************************
 TEST(Quaternion , Concept) {
-  //BOOST_CONCEPT_ASSERT((IsGroup<Quaternion >));
-  //BOOST_CONCEPT_ASSERT((IsManifold<Quaternion >));
+  BOOST_CONCEPT_ASSERT((IsGroup<Quaternion >));
+  BOOST_CONCEPT_ASSERT((IsManifold<Quaternion >));
   BOOST_CONCEPT_ASSERT((IsLieGroup<Quaternion >));
 }
 
@@ -42,6 +42,7 @@ TEST(Quaternion , Invariants) {
   Q q1(Eigen::AngleAxisd(1, Vector3(0, 0, 1)));
   Q q2(Eigen::AngleAxisd(2, Vector3(0, 1, 0)));
   check_group_invariants(q1, q2);
+  check_manifold_invariants(q1, q2);
 }
 
 //******************************************************************************