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release/4.3a0
dellaert 2014-12-21 15:04:29 +01:00
parent 7bba8c42e4
commit 25f95ed22f
1 changed files with 3 additions and 2 deletions
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5
gtsam/geometry/tests/testQuaternion.cpp
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@ -27,8 +27,8 @@ typedef traits_x<Q>::ChartJacobian QuaternionJacobian;
//****************************************************************************** //******************************************************************************
TEST(Quaternion , Concept) { TEST(Quaternion , Concept) {
//BOOST_CONCEPT_ASSERT((IsGroup<Quaternion >)); BOOST_CONCEPT_ASSERT((IsGroup<Quaternion >));
//BOOST_CONCEPT_ASSERT((IsManifold<Quaternion >)); BOOST_CONCEPT_ASSERT((IsManifold<Quaternion >));
BOOST_CONCEPT_ASSERT((IsLieGroup<Quaternion >)); BOOST_CONCEPT_ASSERT((IsLieGroup<Quaternion >));
} }
@ -42,6 +42,7 @@ TEST(Quaternion , Invariants) {
Q q1(Eigen::AngleAxisd(1, Vector3(0, 0, 1))); Q q1(Eigen::AngleAxisd(1, Vector3(0, 0, 1)));
Q q2(Eigen::AngleAxisd(2, Vector3(0, 1, 0))); Q q2(Eigen::AngleAxisd(2, Vector3(0, 1, 0)));
check_group_invariants(q1, q2); check_group_invariants(q1, q2);
check_manifold_invariants(q1, q2);
} }
//****************************************************************************** //******************************************************************************