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Check quaternions

release/4.3a0
dellaert 2015-02-11 15:00:32 +01:00
parent 9460c13cd1
commit 9cf6bb3f0f
1 changed files with 3 additions and 0 deletions
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3
gtsam/geometry/tests/testRot3Q.cpp
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@ -62,6 +62,9 @@ TEST(Rot3Q , Compare) {
R R5 = R3.between(R4); R R5 = R3.between(R4);
EXPECT(assert_equal(R(q5), R5)); EXPECT(assert_equal(R(q5), R5));
// Check toQuaternion
EXPECT(assert_equal(q5, R5.toQuaternion()));
// Check Logmap // Check Logmap
Vector3 vQ = TQ::Logmap(q5); Vector3 vQ = TQ::Logmap(q5);
Vector3 vR = R::Logmap(R5); Vector3 vR = R::Logmap(R5);