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Removed obsolete tests

release/4.3a0
dellaert 2014-12-28 21:31:16 +01:00
parent 4d6455fa7f
commit bed5132ca1
1 changed files with 0 additions and 40 deletions
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gtsam/geometry/tests/testSO3.cpp
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@ -55,46 +55,6 @@ TEST(SO3 , Retract) {
EXPECT(actual.isApprox(R2)); EXPECT(actual.isApprox(R2));
} }
//******************************************************************************
TEST(SO3 , Compose) {
SO3 expected = R1 * R2;
Matrix actualH1, actualH2;
SO3 actual = traits<SO3>::Compose(R1, R2, actualH1, actualH2);
EXPECT(traits<SO3>::Equals(expected,actual));
Matrix numericalH1 = numericalDerivative21(traits<SO3>::Compose, R1, R2);
EXPECT(assert_equal(numericalH1,actualH1));
Matrix numericalH2 = numericalDerivative22(traits<SO3>::Compose, R1, R2);
EXPECT(assert_equal(numericalH2,actualH2));
}
//******************************************************************************
TEST(SO3 , Between) {
SO3 expected = R1.inverse() * R2;
Matrix actualH1, actualH2;
SO3 actual = traits<SO3>::Between(R1, R2, actualH1, actualH2);
EXPECT(traits<SO3>::Equals(expected,actual));
Matrix numericalH1 = numericalDerivative21(traits<SO3>::Between, R1, R2);
EXPECT(assert_equal(numericalH1,actualH1));
Matrix numericalH2 = numericalDerivative22(traits<SO3>::Between, R1, R2);
EXPECT(assert_equal(numericalH2,actualH2));
}
//******************************************************************************
TEST(SO3 , Inverse) {
SO3 expected(Eigen::AngleAxisd(-0.1, z_axis));
Matrix actualH;
SO3 actual = traits<SO3>::Inverse(R1, actualH);
EXPECT(traits<SO3>::Equals(expected,actual));
Matrix numericalH = numericalDerivative11(traits<SO3>::Inverse, R1);
EXPECT(assert_equal(numericalH,actualH));
}
//****************************************************************************** //******************************************************************************
TEST(SO3 , Invariants) { TEST(SO3 , Invariants) {
check_group_invariants(id,id); check_group_invariants(id,id);