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a few comments

release/4.3a0
Peter Mullen 2019-12-13 07:57:43 -08:00
parent 981f1851c9
commit 323a9ab9f2
2 changed files with 6 additions and 0 deletions
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2
gtsam/geometry/tests/testPose2.cpp
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@ -894,6 +894,8 @@ namespace transform_covariance3 {
} }
} }
TEST(Pose2 , TransformCovariance3) { TEST(Pose2 , TransformCovariance3) {
// Use simple covariance matrices and transforms to create tests that can be
// validated with simple computations.
using namespace transform_covariance3; using namespace transform_covariance3;
// rotate // rotate

4
gtsam/geometry/tests/testPose3.cpp
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@ -959,6 +959,7 @@ namespace transform_covariance6 {
} }
} }
TEST(Pose3, TransformCovariance6MapTo2d) { TEST(Pose3, TransformCovariance6MapTo2d) {
// Create 3d scenarios that map to 2d configurations and compare with Pose2 results.
using namespace transform_covariance6; using namespace transform_covariance6;
std::array<double, Pose2::dimension> s{{0.1, 0.3, 0.7}}; std::array<double, Pose2::dimension> s{{0.1, 0.3, 0.7}};
std::array<double, Pose2::Rotation::dimension> r{{31.}}; std::array<double, Pose2::Rotation::dimension> r{{31.}};
@ -1002,7 +1003,10 @@ TEST(Pose3, TransformCovariance6MapTo2d) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Pose3, TransformCovariance6) { TEST(Pose3, TransformCovariance6) {
// Use simple covariance matrices and transforms to create tests that can be
// validated with simple computations.
using namespace transform_covariance6; using namespace transform_covariance6;
// rotate 90 around z axis and then 90 around y axis // rotate 90 around z axis and then 90 around y axis
{ {
auto cov = generate_full_covariance<Pose3>({0.1, 0.2, 0.3, 0.5, 0.7, 1.1}); auto cov = generate_full_covariance<Pose3>({0.1, 0.2, 0.3, 0.5, 0.7, 1.1});