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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
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2
gtsam/geometry/tests/testPose3.cpp
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@ -936,7 +936,9 @@ TEST(Pose3, Logmap) {
TEST(Pose3, LogmapDerivatives) {
for (bool nearZero : {true, false}) {
for (const Vector3& w : test_cases::omegas(nearZero)) {
std::cout << "w: " << w.transpose() << std::endl;
for (Vector3 v : test_cases::vs) {
std::cout << "v: " << v.transpose() << std::endl;
const Vector6 xi = (Vector6() << w, v).finished();
Pose3 pose = Pose3::Expmap(xi);
const Matrix6 expectedH =