Check quaternions

2015-02-11 15:00:32 +01:00 · 2015-02-11 15:00:32 +01:00 · 9cf6bb3f0f
parent 9460c13cd1
commit 9cf6bb3f0f
1 changed files with 3 additions and 0 deletions
--- a/gtsam/geometry/tests/testRot3Q.cpp
+++ b/gtsam/geometry/tests/testRot3Q.cpp
@ -62,6 +62,9 @@ TEST(Rot3Q , Compare) {
  R R5 = R3.between(R4);
  EXPECT(assert_equal(R(q5), R5));

+  // Check toQuaternion
+  EXPECT(assert_equal(q5, R5.toQuaternion()));
+
  // Check Logmap
  Vector3 vQ = TQ::Logmap(q5);
  Vector3 vR = R::Logmap(R5);