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dont conflate notation on aTb

release/4.3a0
John Lambert 2021-03-05 17:58:43 -05:00
parent b105b8fe95
commit 5ab7af0a09
1 changed files with 4 additions and 4 deletions
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8
python/gtsam/tests/test_Sim3.py
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@ -49,10 +49,10 @@ class TestSim3(GtsamTestCase):
wToi_list = [wTo0, wTo1, wTo2]
wTe_pairs = Pose3Pairs(list(zip(wToi_list, eToi_list)))
we_pairs = Pose3Pairs(list(zip(wToi_list, eToi_list)))
# Recover the transformation wSe (i.e. world_S_egovehicle)
wSe = Similarity3.Align(wTe_pairs)
wSe = Similarity3.Align(we_pairs)
for wToi, eToi in zip(wToi_list, eToi_list):
self.gtsamAssertEquals(wToi, wSe.transformFrom(eToi))
@ -85,10 +85,10 @@ class TestSim3(GtsamTestCase):
wToi_list = [wTo0, wTo1, wTo2]
wTe_pairs = Pose3Pairs(list(zip(wToi_list, eToi_list)))
we_pairs = Pose3Pairs(list(zip(wToi_list, eToi_list)))
# Recover the transformation wSe (i.e. world_S_egovehicle)
wSe = Similarity3.Align(wTe_pairs)
wSe = Similarity3.Align(we_pairs)
for wToi, eToi in zip(wToi_list, eToi_list):
self.gtsamAssertEquals(wToi, wSe.transformFrom(eToi))