From 9613f4d5b0220b22a512313a7f18c3f68f458fa8 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 11 Feb 2015 14:21:40 +0100
Subject: [PATCH] Narrowed to Logmap

---
 gtsam/geometry/tests/testRot3Q.cpp | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/tests/testRot3Q.cpp b/gtsam/geometry/tests/testRot3Q.cpp
index 7c2f80bad..1c80fc2f4 100644
--- a/gtsam/geometry/tests/testRot3Q.cpp
+++ b/gtsam/geometry/tests/testRot3Q.cpp
@@ -57,9 +57,19 @@ TEST(Rot3Q , Compare) {
   R R4 = TR::Retract(R3, v);
   EXPECT(assert_equal(R(q4), R4));
 
+  // Check Between
+  Q q5 = TQ::Between(q3, q4);
+  R R5 = R3.between(R4);
+  EXPECT(assert_equal(R(q5), R5));
+
+  // Check Logmap
+  Vector3 vQ = TQ::Logmap(q5);
+  Vector3 vR = R::Logmap(R5);
+  EXPECT(assert_equal(vQ, vR));
+
   // Check Local
-  Vector3 vQ = TQ::Local(q3, q4);
-  Vector3 vR = TR::Local(R3, R4);
+  vQ = TQ::Local(q3, q4);
+  vR = TR::Local(R3, R4);
   EXPECT(assert_equal(vQ, vR));
 
   // Check Retract/Local of Compose