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fixed comments and tolerances

release/4.3a0
Frank Dellaert 2010-01-09 02:27:49 +00:00
parent 6851b31fad
commit 5fbb820341
1 changed files with 7 additions and 7 deletions
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14
cpp/testRot3.cpp
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@ -269,17 +269,17 @@ TEST( Rot3, RQ)
CHECK(assert_equal(eye(3),actualK)); CHECK(assert_equal(eye(3),actualK));
CHECK(assert_equal(expected,actual,1e-6)); CHECK(assert_equal(expected,actual,1e-6));
// Try using xyz call // Try using xyz call, asserting that Rot3::RzRyRx(x,y,z).xyz()==[x;y;z]
CHECK(assert_equal(expected,R.xyz(),1e-6)); CHECK(assert_equal(expected,R.xyz(),1e-6));
CHECK(assert_equal(Vector_(3,0.1,0.2,0.3),Rot3::RzRyRx(0.1,0.2,0.3).xyz(),1e-6)); CHECK(assert_equal(Vector_(3,0.1,0.2,0.3),Rot3::RzRyRx(0.1,0.2,0.3).xyz()));
// Try using xyz call // Try using ypr call, asserting that Rot3::ypr(y,p,r).ypr()==[y;p;r]
CHECK(assert_equal(Vector_(3,0.1,0.2,0.3),Rot3::ypr(0.1,0.2,0.3).ypr(),1e-6)); CHECK(assert_equal(Vector_(3,0.1,0.2,0.3),Rot3::ypr(0.1,0.2,0.3).ypr()));
// Try ypr for pure yaw-pitch-roll matrices // Try ypr for pure yaw-pitch-roll matrices
CHECK(assert_equal(Vector_(3,0.1,0.0,0.0),Rot3::yaw (0.1).ypr(),1e-6)); CHECK(assert_equal(Vector_(3,0.1,0.0,0.0),Rot3::yaw (0.1).ypr()));
CHECK(assert_equal(Vector_(3,0.0,0.1,0.0),Rot3::pitch(0.1).ypr(),1e-6)); CHECK(assert_equal(Vector_(3,0.0,0.1,0.0),Rot3::pitch(0.1).ypr()));
CHECK(assert_equal(Vector_(3,0.0,0.0,0.1),Rot3::roll (0.1).ypr(),1e-6)); CHECK(assert_equal(Vector_(3,0.0,0.0,0.1),Rot3::roll (0.1).ypr()));
// Try RQ to recover calibration from 3*3 sub-block of projection matrix // Try RQ to recover calibration from 3*3 sub-block of projection matrix
Matrix K = Matrix_(3,3, Matrix K = Matrix_(3,3,