12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Another test to make sure rotations created with ypr yield the correct ypr when queried

release/4.3a0
Frank Dellaert 2012-01-22 20:22:10 +00:00
parent 2429aab681
commit 6c75407f98
1 changed files with 2 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/geometry/tests/testRot3M.cpp
View File

@ -450,6 +450,8 @@ TEST( Rot3, yaw_pitch_roll )
// Check compound rotation // Check compound rotation
Rot3 expected = Rot3::yaw(0.1) * Rot3::pitch(0.2) * Rot3::roll(0.3); 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(expected,Rot3::ypr(0.1,0.2,0.3)));
CHECK(assert_equal(Vector_(3,0.1,0.2,0.3),expected.ypr()));
} }
/* ************************************************************************* */ /* ************************************************************************* */