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Additional unit test

release/4.3a0
Paul Drews 2014-12-12 08:43:57 -05:00
parent 8c4468185a
commit 69f27b9488
1 changed files with 4 additions and 3 deletions
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7
gtsam_unstable/geometry/tests/testSimilarity3.cpp
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@ -131,10 +131,11 @@ TEST(Similarity3, manifold) {
Similarity3 sim2;
EXPECT(sim2.retract(z)==sim2);
Vector7 vzero = Vector7::Zero();
EXPECT(sim2.localCoordinates(sim) == vzero);
EXPECT(sim2.localCoordinates(sim) == zero);
EXPECT(sim2.localCoordinates(sim))
Similarity3 sim3 = Similarity3(Matrix3::Identity(), {1,1,1}, 1);
Vector7 v3 = {0,0,0,1,1,1,0};
EXPECT(sim2.localCoordinates(sim3)==v3);
// TODO add unit tests for retract and localCoordinates
}