From 6c75407f9825da580f4459c65cb06d427581eae2 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sun, 22 Jan 2012 20:22:10 +0000 Subject: [PATCH] Another test to make sure rotations created with ypr yield the correct ypr when queried --- gtsam/geometry/tests/testRot3M.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/gtsam/geometry/tests/testRot3M.cpp b/gtsam/geometry/tests/testRot3M.cpp index 5179fa597..a5047f14b 100644 --- a/gtsam/geometry/tests/testRot3M.cpp +++ b/gtsam/geometry/tests/testRot3M.cpp @@ -450,6 +450,8 @@ TEST( Rot3, yaw_pitch_roll ) // Check compound rotation Rot3 expected = Rot3::yaw(0.1) * Rot3::pitch(0.2) * Rot3::roll(0.3); CHECK(assert_equal(expected,Rot3::ypr(0.1,0.2,0.3))); + + CHECK(assert_equal(Vector_(3,0.1,0.2,0.3),expected.ypr())); } /* ************************************************************************* */