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feature: add two small unit tests for local coordinate

release/4.3a0
zhaoyang 2015-07-12 14:37:40 -04:00
parent 05a55b262a
commit 6b1c411f9e
1 changed files with 10 additions and 0 deletions
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10
gtsam/geometry/tests/testUnit3.cpp
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@ -192,6 +192,16 @@ TEST(Unit3, localCoordinates) {
EXPECT(assert_equal(expected, actual, 1e-8));
EXPECT(assert_equal(q, p.retract(expected), 1e-8));
}
{
Unit3 p(0,1,0), q(0,-1,0);
Vector2 actual = p.localCoordinates(q);
EXPECT(assert_equal(q, p.retract(actual), 1e-8));
}
{
Unit3 p(0,0,1), q(0,0,-1);
Vector2 actual = p.localCoordinates(q);
EXPECT(assert_equal(q, p.retract(actual), 1e-8));
}
double twist = 1e-4;
{