Merged in fix/quaternion-tests (pull request #350)
Fix testScenario when in quaternion moderelease/4.3a0
						commit
						40b2ce5d1d
					
				|  | @ -96,7 +96,11 @@ TEST(Scenario, Loop) { | |||
|   const double R = v / w; | ||||
|   const Pose3 T30 = scenario.pose(30); | ||||
|   EXPECT(assert_equal(Rot3::Rodrigues(0, M_PI, 0), T30.rotation(), 1e-9)); | ||||
| #ifdef GTSAM_USE_QUATERNIONS | ||||
|   EXPECT(assert_equal(Vector3(-M_PI, 0, -M_PI), T30.rotation().xyz())); | ||||
| #else | ||||
|   EXPECT(assert_equal(Vector3(M_PI, 0, M_PI), T30.rotation().xyz())); | ||||
| #endif | ||||
|   EXPECT(assert_equal(Point3(0, 0, 2 * R), T30.translation(), 1e-9)); | ||||
| } | ||||
| 
 | ||||
|  |  | |||
		Loading…
	
		Reference in New Issue