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A retract test

release/4.3a0
Frank Dellaert 2013-10-12 16:17:27 +00:00
parent 8be7363a01
commit 365d2d2d03
1 changed files with 10 additions and 0 deletions
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10
gtsam/geometry/tests/testCal3Bundler.cpp
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@ -65,6 +65,16 @@ TEST( Cal3Bundler, assert_equal)
CHECK(assert_equal(K,K,1e-7)); 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); } int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */ /* ************************************************************************* */