12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Instrument code for failing windows test

release/4.3a0
Frank Dellaert 2025-04-20 11:47:57 -04:00
parent c4b2cc5b0f
commit a3b7f03a65
1 changed files with 2 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/geometry/tests/testPose3.cpp
View File

@ -936,7 +936,9 @@ TEST(Pose3, Logmap) {
TEST(Pose3, LogmapDerivatives) { TEST(Pose3, LogmapDerivatives) {
for (bool nearZero : {true, false}) { for (bool nearZero : {true, false}) {
for (const Vector3& w : test_cases::omegas(nearZero)) { for (const Vector3& w : test_cases::omegas(nearZero)) {
std::cout << "w: " << w.transpose() << std::endl;
for (Vector3 v : test_cases::vs) { for (Vector3 v : test_cases::vs) {
std::cout << "v: " << v.transpose() << std::endl;
const Vector6 xi = (Vector6() << w, v).finished(); const Vector6 xi = (Vector6() << w, v).finished();
Pose3 pose = Pose3::Expmap(xi); Pose3 pose = Pose3::Expmap(xi);
const Matrix6 expectedH = const Matrix6 expectedH =