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release/4.3a0
dellaert 2015-02-11 14:21:40 +01:00
parent cd943d89ce
commit 9613f4d5b0
1 changed files with 12 additions and 2 deletions
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14
gtsam/geometry/tests/testRot3Q.cpp
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@ -57,9 +57,19 @@ TEST(Rot3Q , Compare) {
R R4 = TR::Retract(R3, v); R R4 = TR::Retract(R3, v);
EXPECT(assert_equal(R(q4), R4)); 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 // Check Local
Vector3 vQ = TQ::Local(q3, q4); vQ = TQ::Local(q3, q4);
Vector3 vR = TR::Local(R3, R4); vR = TR::Local(R3, R4);
EXPECT(assert_equal(vQ, vR)); EXPECT(assert_equal(vQ, vR));
// Check Retract/Local of Compose // Check Retract/Local of Compose