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Do net check derivatives (yet) in Cayley mode

release/4.3a0
dellaert 2015-02-11 00:13:34 +01:00
parent 8d35a22c9b
commit 7c8fe9c1a0
2 changed files with 13 additions and 11 deletions
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3
gtsam/geometry/tests/testPose3.cpp
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@ -775,12 +775,13 @@ TEST(Pose3 , LieGroupDerivatives) {
//****************************************************************************** //******************************************************************************
TEST(Pose3 , ChartDerivatives) { TEST(Pose3 , ChartDerivatives) {
Pose3 id; Pose3 id;
if (ROT3_DEFAULT_COORDINATES_MODE == Rot3::EXPMAP) {
CHECK_CHART_DERIVATIVES(id,id); CHECK_CHART_DERIVATIVES(id,id);
CHECK_CHART_DERIVATIVES(id,T2); CHECK_CHART_DERIVATIVES(id,T2);
CHECK_CHART_DERIVATIVES(T2,id); CHECK_CHART_DERIVATIVES(T2,id);
CHECK_CHART_DERIVATIVES(T2,T3); CHECK_CHART_DERIVATIVES(T2,T3);
} }
}
/* ************************************************************************* */ /* ************************************************************************* */
int main(){ TestResult tr; return TestRegistry::runAllTests(tr);} int main(){ TestResult tr; return TestRegistry::runAllTests(tr);}

3
gtsam/geometry/tests/testRot3.cpp
View File

@ -686,13 +686,14 @@ TEST(Rot3 , LieGroupDerivatives) {
//****************************************************************************** //******************************************************************************
TEST(Rot3 , ChartDerivatives) { TEST(Rot3 , ChartDerivatives) {
Rot3 id; Rot3 id;
if (ROT3_DEFAULT_COORDINATES_MODE == Rot3::EXPMAP) {
CHECK_CHART_DERIVATIVES(id,id); CHECK_CHART_DERIVATIVES(id,id);
CHECK_CHART_DERIVATIVES(id,T2); CHECK_CHART_DERIVATIVES(id,T2);
CHECK_CHART_DERIVATIVES(T2,id); CHECK_CHART_DERIVATIVES(T2,id);
CHECK_CHART_DERIVATIVES(T1,T2); CHECK_CHART_DERIVATIVES(T1,T2);
CHECK_CHART_DERIVATIVES(T2,T1); CHECK_CHART_DERIVATIVES(T2,T1);
} }
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {