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Use retract so tests pass for both Rot3/Quaternion

release/4.3a0
Frank Dellaert 2015-07-04 23:39:51 -07:00
parent b5a366e8f1
commit bfa8fbac99
1 changed files with 1 additions and 1 deletions
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gtsam/nonlinear/tests/testAdaptAutoDiff.cpp
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@ -163,7 +163,7 @@ Vector2 adapted(const Vector9& P, const Vector3& X) {
/* ************************************************************************* */ /* ************************************************************************* */
namespace example { namespace example {
Camera camera(Pose3(Rot3::rodriguez(0.1, 0.2, 0.3), Point3(0, 5, 0)), Camera camera(Pose3(Rot3().retract(Vector3(0.1, 0.2, 0.3)), Point3(0, 5, 0)),
Cal3Bundler0(1, 0, 0)); Cal3Bundler0(1, 0, 0));
Point3 point(10, 0, -5); // negative Z-axis convention of Snavely! Point3 point(10, 0, -5); // negative Z-axis convention of Snavely!
Vector9 P = Camera().localCoordinates(camera); Vector9 P = Camera().localCoordinates(camera);