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Fix quaternions test failure.

release/4.3a0
alexma3312 2020-09-27 20:36:50 -04:00
parent 3727cc6053
commit 95724be4ae
1 changed files with 7 additions and 7 deletions
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14
gtsam_unstable/geometry/tests/testSimilarity3.cpp
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@ -264,11 +264,11 @@ TEST(Similarity3, GroupActionPose3) {
// Create source poses // Create source poses
Pose3 Ta1(Rot3(), Point3(0, 0, 0)); 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 // Create destination poses
Pose3 expected_Tb1(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10)); 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_Tb1, bSa.transformFrom(Ta1)));
EXPECT(assert_equal(expected_Tb2, bSa.transformFrom(Ta2))); EXPECT(assert_equal(expected_Tb2, bSa.transformFrom(Ta2)));
@ -283,11 +283,11 @@ TEST(Similarity3, GroupActionPose3_Compatibility) {
// Create poses // Create poses
Pose3 Ta1(Rot3(), Point3(0, 0, 0)); 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 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 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(Tc1, cSb.transformFrom(Tb1)));
EXPECT(assert_equal(Tc2, cSb.transformFrom(Tb2))); EXPECT(assert_equal(Tc2, cSb.transformFrom(Tb2)));
@ -350,11 +350,11 @@ TEST(Similarity3, AlignPose3) {
// Create source poses // Create source poses
Pose3 Ta1(Rot3(), Point3(0, 0, 0)); 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 // Create destination poses
Pose3 Tb1(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10)); 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 bTa1(make_pair(Tb1, Ta1));
Pose3Pair bTa2(make_pair(Tb2, Ta2)); Pose3Pair bTa2(make_pair(Tb2, Ta2));