From 95724be4ae170bfa2860d854a61405d293109948 Mon Sep 17 00:00:00 2001 From: alexma3312 Date: Sun, 27 Sep 2020 20:36:50 -0400 Subject: [PATCH] Fix quaternions test failure. --- gtsam_unstable/geometry/tests/testSimilarity3.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp index 01e33b330..b985eb374 100644 --- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp +++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp @@ -264,11 +264,11 @@ TEST(Similarity3, GroupActionPose3) { // Create source poses Pose3 Ta1(Rot3(), Point3(0, 0, 0)); - Pose3 Ta2(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, 1), Point3(4, 0, 0)); + Pose3 Ta2(Rot3(-1, 0, 0, 0, -1, 0, 0, 0, 1), Point3(4, 0, 0)); // Create destination poses Pose3 expected_Tb1(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10)); - Pose3 expected_Tb2(Rot3(1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(-4, 6, 10)); + Pose3 expected_Tb2(Rot3(1, 0, 0, 0, -1, 0, 0, 0, -1), Point3(-4, 6, 10)); EXPECT(assert_equal(expected_Tb1, bSa.transformFrom(Ta1))); EXPECT(assert_equal(expected_Tb2, bSa.transformFrom(Ta2))); @@ -283,11 +283,11 @@ TEST(Similarity3, GroupActionPose3_Compatibility) { // Create poses Pose3 Ta1(Rot3(), Point3(0, 0, 0)); - Pose3 Ta2(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, 1), Point3(4, 0, 0)); + Pose3 Ta2(Rot3(-1, 0, 0, 0, -1, 0, 0, 0, 1), Point3(4, 0, 0)); Pose3 Tb1(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10)); - Pose3 Tb2(Rot3(1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(-4, 6, 10)); + Pose3 Tb2(Rot3(1, 0, 0, 0, -1, 0, 0, 0, -1), Point3(-4, 6, 10)); Pose3 Tc1(Rot3(0, 0, -1, 0, 1, 0, 1, 0, 0), Point3(0, 6, -12)); - Pose3 Tc2(Rot3(0, 0, -1, 0, 1, 0, -1, 0, 0), Point3(0, 6, 12)); + Pose3 Tc2(Rot3(0, 0, -1, 0, -1, 0, -1, 0, 0), Point3(0, 6, 12)); EXPECT(assert_equal(Tc1, cSb.transformFrom(Tb1))); EXPECT(assert_equal(Tc2, cSb.transformFrom(Tb2))); @@ -350,11 +350,11 @@ TEST(Similarity3, AlignPose3) { // Create source poses Pose3 Ta1(Rot3(), Point3(0, 0, 0)); - Pose3 Ta2(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, 1), Point3(4, 0, 0)); + Pose3 Ta2(Rot3(-1, 0, 0, 0, -1, 0, 0, 0, 1), Point3(4, 0, 0)); // Create destination poses Pose3 Tb1(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10)); - Pose3 Tb2(Rot3(1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(-4, 6, 10)); + Pose3 Tb2(Rot3(1, 0, 0, 0, -1, 0, 0, 0, -1), Point3(-4, 6, 10)); Pose3Pair bTa1(make_pair(Tb1, Ta1)); Pose3Pair bTa2(make_pair(Tb2, Ta2));