From 365d2d2d03eaff7d859057daeb133330d4e07445 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 12 Oct 2013 16:17:27 +0000 Subject: [PATCH] A retract test --- gtsam/geometry/tests/testCal3Bundler.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/gtsam/geometry/tests/testCal3Bundler.cpp b/gtsam/geometry/tests/testCal3Bundler.cpp index 3580e728d..68f482cbd 100644 --- a/gtsam/geometry/tests/testCal3Bundler.cpp +++ b/gtsam/geometry/tests/testCal3Bundler.cpp @@ -65,6 +65,16 @@ TEST( Cal3Bundler, assert_equal) CHECK(assert_equal(K,K,1e-7)); } +/* ************************************************************************* */ +TEST( Cal3Bundler, retract) +{ + Cal3Bundler expected(510, 2e-3, 2e-3); + Vector d(3); + d << 10, 1e-3, 1e-3; + Cal3Bundler actual = K.retract(d); + CHECK(assert_equal(expected,actual,1e-7)); +} + /* ************************************************************************* */ int main() { TestResult tr; return TestRegistry::runAllTests(tr); } /* ************************************************************************* */