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Better explanation of Rot3 Logmap Lund unit test

release/4.3a0
Binit Shah 2020-06-12 00:08:06 -04:00
parent 7c362c3e92
commit 3bdc6d36cd
1 changed files with 6 additions and 0 deletions
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6
gtsam/geometry/tests/testRot3.cpp
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@ -243,10 +243,16 @@ TEST(Rot3, log) {
Rot3 Rlund(-0.98582676, -0.03958746, -0.16303092, // Rot3 Rlund(-0.98582676, -0.03958746, -0.16303092, //
-0.03997006, -0.88835923, 0.45740671, // -0.03997006, -0.88835923, 0.45740671, //
-0.16293753, 0.45743998, 0.87418537); -0.16293753, 0.45743998, 0.87418537);
// Rot3's Logmap returns different, but equivalent compacted
// axis-angle vectors depending on whether Rot3 is implemented
// by Quaternions or SO3.
#if defined(GTSAM_USE_QUATERNIONS) #if defined(GTSAM_USE_QUATERNIONS)
// Quaternion bounds angle to [-pi, pi] resulting in ~179.9 degrees
EXPECT(assert_equal(Vector3(0.264451979, -0.742197651, -3.04098211), EXPECT(assert_equal(Vector3(0.264451979, -0.742197651, -3.04098211),
(Vector)Rot3::Logmap(Rlund), 1e-8)); (Vector)Rot3::Logmap(Rlund), 1e-8));
#else #else
// SO3 does not bound angle resulting in ~180.1 degrees
EXPECT(assert_equal(Vector3(-0.264544406, 0.742217405, 3.04117314), EXPECT(assert_equal(Vector3(-0.264544406, 0.742217405, 3.04117314),
(Vector)Rot3::Logmap(Rlund), 1e-8)); (Vector)Rot3::Logmap(Rlund), 1e-8));
#endif #endif