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reformat pose3 declaration.

release/4.3a0
alexma3312 2020-08-21 14:57:29 -04:00
parent f5611fbc49
commit 9a07a61779
1 changed files with 14 additions and 14 deletions
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28
gtsam_unstable/geometry/tests/testSimilarity3.cpp
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@ -263,12 +263,12 @@ TEST(Similarity3, GroupActionPose3) {
Similarity3 bSa(Rot3::Ry(180 * degree), Point3(2, 3, 5), 2.0);
// Create source poses
Pose3 Ta1 = Pose3(Rot3(), Point3(0, 0, 0));
Pose3 Ta2 = Pose3(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, 1), Point3(4, 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));
// Create destination poses
Pose3 expected_Tb1 = Pose3(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10));
Pose3 expected_Tb2 = Pose3(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));
EXPECT(assert_equal(expected_Tb1, bSa.transformFrom(Ta1)));
EXPECT(assert_equal(expected_Tb2, bSa.transformFrom(Ta2)));
@ -280,12 +280,12 @@ TEST(Similarity3, GroupActionPose3_Compatibility) {
Similarity3 cSa(Rot3::Ry(270 * degree), Point3(0, 1, -2), 6.0);
// Create poses
Pose3 Ta1 = Pose3(Rot3(), Point3(0, 0, 0));
Pose3 Ta2 = Pose3(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, 1), Point3(4, 0, 0));
Pose3 Tb1 = Pose3(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10));
Pose3 Tb2 = Pose3(Rot3(1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(-4, 6, 10));
Pose3 Tc1 = Pose3(Rot3(0, 0, -1, 0, 1, 0, 1, 0, 0), Point3(0, 6, -12));
Pose3 Tc2 = Pose3(Rot3(0, 0, -1, 0, 1, 0, -1, 0, 0), Point3(0, 6, 12));
Pose3 Ta1(Rot3(), Point3(0, 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 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));
EXPECT(assert_equal(Tc1, cSb.transformFrom(Tb1)));
EXPECT(assert_equal(Tc2, cSb.transformFrom(Tb2)));
@ -347,12 +347,12 @@ TEST(Similarity3, AlignPose3) {
Similarity3 expected_aSb(Rot3::Ry(180 * degree), Point3(2, 3, 5), 2.0);
// Create source poses
Pose3 Ta1 = Pose3(Rot3(), Point3(0, 0, 0));
Pose3 Ta2 = Pose3(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, 1), Point3(4, 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));
// Create destination poses
Pose3 Tb1 = Pose3(Rot3(-1, 0, 0, 0, 1, 0, 0, 0, -1), Point3(4, 6, 10));
Pose3 Tb2 = Pose3(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));
Pose3Pair bTa1(make_pair(Tb1, Ta1));
Pose3Pair bTa2(make_pair(Tb2, Ta2));