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