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syntactic sugar for Point2

release/4.3a0
Alex Cunningham 2011-02-26 22:50:16 +00:00
parent cee6b4523e
commit a14c8e3e09
2 changed files with 19 additions and 7 deletions
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3
gtsam/geometry/Point2.h
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@ -110,6 +110,9 @@ namespace gtsam {
/** norm of point */
double norm() const;
/** creates a unit vector */
Point2 unit() const { return *this/norm(); }
/** distance between two points */
inline double dist(const Point2& p2) const {
return (p2 - *this).norm();

23
gtsam/geometry/tests/testPoint2.cpp
View File

@ -28,18 +28,18 @@ TEST( Point2, expmap)
d(0) = 1;
d(1) = -1;
Point2 a(4, 5), b = a.expmap(d), c(5, 4);
CHECK(assert_equal(b,c));
EXPECT(assert_equal(b,c));
}
/* ************************************************************************* */
TEST( Point2, arithmetic)
{
CHECK(assert_equal( Point2(-5,-6), -Point2(5,6) ));
CHECK(assert_equal( Point2(5,6), Point2(4,5)+Point2(1,1)));
CHECK(assert_equal( Point2(3,4), Point2(4,5)-Point2(1,1) ));
CHECK(assert_equal( Point2(8,6), Point2(4,3)*2));
CHECK(assert_equal( Point2(4,6), 2*Point2(2,3)));
CHECK(assert_equal( Point2(2,3), Point2(4,6)/2));
EXPECT(assert_equal( Point2(-5,-6), -Point2(5,6) ));
EXPECT(assert_equal( Point2(5,6), Point2(4,5)+Point2(1,1)));
EXPECT(assert_equal( Point2(3,4), Point2(4,5)-Point2(1,1) ));
EXPECT(assert_equal( Point2(8,6), Point2(4,3)*2));
EXPECT(assert_equal( Point2(4,6), 2*Point2(2,3)));
EXPECT(assert_equal( Point2(2,3), Point2(4,6)/2));
}
/* ************************************************************************* */
@ -52,6 +52,15 @@ TEST( Point2, norm)
DOUBLES_EQUAL( 5,(p2-p1).norm(),1e-6);
}
/* ************************************************************************* */
TEST( Point2, unit)
{
Point2 p0(10.0, 0.0), p1(0.0,-10.0), p2(10.0, 10.0);
EXPECT(assert_equal(Point2(1.0, 0.0), p0.unit(), 1e-6));
EXPECT(assert_equal(Point2(0.0,-1.0), p1.unit(), 1e-6));
EXPECT(assert_equal(Point2(sqrt(2)/2.0, sqrt(2)/2.0), p2.unit(), 1e-6));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */