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unit tests

release/4.3a0
Brice Rebsamen 2019-05-22 11:48:43 -07:00
parent f5e427a7b2
commit c460c14764
1 changed files with 13 additions and 0 deletions
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13
gtsam/slam/tests/testSlamExpressions.cpp
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@ -45,6 +45,19 @@ TEST(SlamExpressions, project2) {
EXPECT_CORRECT_EXPRESSION_JACOBIANS(point2_expr, values, 1e-7, 1e-5);
}
/* ************************************************************************* */
TEST(SlamExpressions, rotation) {
Pose3_ T_(0);
const Rot3_ R_ = rotation(T_);
}
/* ************************************************************************* */
TEST(SlamExpressions, unrotate) {
Rot3_ R_(0);
Point3_ p_(1);
const Point3_ q_ = unrotate(R_, p_);
}
/* ************************************************************************* */
int main() {
TestResult tr;