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Added a few tests

release/4.3a0
Paul Drews 2015-06-11 19:55:10 -04:00
parent 76ffc45ee7
commit 99fce3f5af
1 changed files with 19 additions and 0 deletions
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19
gtsam_unstable/geometry/tests/testSimilarity3.cpp
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@ -212,6 +212,25 @@ TEST(Similarity3, GroupAction) {
ph << 3, 1, 0, 1;
EXPECT(assert_equal((Vector )ph, T4.matrix() * qh));
Similarity3 Ta(Rot3(), Point3(1, 2, 3), 1.0);
Similarity3 Tb(Rot3(), Point3(1, 2, 3), 2.0);
Point3 pa = Point3(1, 0, 0);
Point3 pTa = Point3(2, 2, 3);
Point3 pTb = Point3(3, 2, 3);
EXPECT(assert_equal(pTa, Ta.transform_from(pa)));
EXPECT(assert_equal(pTb, Tb.transform_from(pa)));
Similarity3 Tc(Rot3::Rz(M_PI/2.0), Point3(1, 2, 3), 1.0);
Similarity3 Td(Rot3::Rz(M_PI/2.0), Point3(1, 2, 3), 2.0);
Point3 pTc = Point3(1, 3, 3);
Point3 pTd = Point3(1, 4, 3);
EXPECT(assert_equal(pTc, Tc.transform_from(pa)));
EXPECT(assert_equal(pTd, Td.transform_from(pa)));
// Test derivative
boost::function<Point3(Similarity3, Point3)> f = boost::bind(
&Similarity3::transform_from, _1, _2, boost::none, boost::none);