From ba8db019da7c9469c4014e4f5621e8f1e7c733e7 Mon Sep 17 00:00:00 2001 From: cbeall3 Date: Tue, 6 May 2014 11:56:47 -0400 Subject: [PATCH] Adding unit test for skewSymmetric because there's a strange warning elsewhere --- gtsam/base/tests/testMatrix.cpp | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/gtsam/base/tests/testMatrix.cpp b/gtsam/base/tests/testMatrix.cpp index 828208361..9d84e5ab7 100644 --- a/gtsam/base/tests/testMatrix.cpp +++ b/gtsam/base/tests/testMatrix.cpp @@ -459,6 +459,22 @@ TEST( matrix, scale_rows_mask ) EXPECT(assert_equal(actual, expected)); } +/* ************************************************************************* */ +TEST( matrix, skewSymmetric ) +{ + double wx = 1, wy = 2, wz = 3; + Matrix3 actual = skewSymmetric(wx,wy,wz); + + Matrix expected(3,3); + expected << 0, -3, 2, + 3, 0, -1, + -2, 1, 0; + + EXPECT(assert_equal(actual, expected)); + +} + + /* ************************************************************************* */ TEST( matrix, equal ) {