12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Modify comments and move header file declaration.

release/4.3a0
alexma3312 2020-08-22 15:20:20 -04:00
parent e3bf43856d
commit 4789cd2682
3 changed files with 5 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
gtsam_unstable/geometry/Similarity3.cpp
View File

@ -19,6 +19,7 @@
#include <gtsam/geometry/Pose3.h> #include <gtsam/geometry/Pose3.h>
#include <gtsam/base/Manifold.h> #include <gtsam/base/Manifold.h>
#include <gtsam/slam/KarcherMeanFactor-inl.h>
namespace gtsam { namespace gtsam {

3
gtsam_unstable/geometry/Similarity3.h
View File

@ -23,8 +23,6 @@
#include <gtsam/base/Lie.h> #include <gtsam/base/Lie.h>
#include <gtsam/base/Manifold.h> #include <gtsam/base/Manifold.h>
#include <gtsam_unstable/dllexport.h> #include <gtsam_unstable/dllexport.h>
#include <gtsam/slam/KarcherMeanFactor-inl.h>
#include <gtsam/slam/KarcherMeanFactor.h>
namespace gtsam { namespace gtsam {
@ -114,6 +112,7 @@ public:
* | 0 1/s | = | 0 1 | * | 0 1/s | = | 0 1 |
* *
* This group action satisfies the compatibility condition. * This group action satisfies the compatibility condition.
* For more details, refer to: https://en.wikipedia.org/wiki/Group_action
*/ */
GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const; GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const;

2
gtsam_unstable/geometry/tests/testSimilarity3.cpp
View File

@ -274,6 +274,8 @@ TEST(Similarity3, GroupActionPose3) {
EXPECT(assert_equal(expected_Tb2, bSa.transformFrom(Ta2))); EXPECT(assert_equal(expected_Tb2, bSa.transformFrom(Ta2)));
} }
// Test left group action compatibility.
// cSa*Ta = cSb*bSa*Ta
TEST(Similarity3, GroupActionPose3_Compatibility) { TEST(Similarity3, GroupActionPose3_Compatibility) {
Similarity3 bSa(Rot3::Ry(180 * degree), Point3(2, 3, 5), 2.0); Similarity3 bSa(Rot3::Ry(180 * degree), Point3(2, 3, 5), 2.0);
Similarity3 cSb(Rot3::Ry(90 * degree), Point3(-10, -4, 0), 3.0); Similarity3 cSb(Rot3::Ry(90 * degree), Point3(-10, -4, 0), 3.0);