From 69f27b94884676896edea45fdfb6829ec5e72d06 Mon Sep 17 00:00:00 2001 From: Paul Drews Date: Fri, 12 Dec 2014 08:43:57 -0500 Subject: [PATCH] Additional unit test --- gtsam_unstable/geometry/tests/testSimilarity3.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp index 92c028bdf..2bf31cbfa 100644 --- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp +++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp @@ -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 }