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fix typo in test for Sim3 transform_from

release/4.3a0
lvzhaoyang 2016-02-07 23:51:26 -05:00
parent 5a94b71c5f
commit c5b2c63c9d
1 changed files with 3 additions and 3 deletions
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6
gtsam_unstable/geometry/tests/testSimilarity3.cpp
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@ -249,10 +249,10 @@ TEST(Similarity3, GroupAction) {
Point3 q(1, 2, 3); Point3 q(1, 2, 3);
for (const auto T : { T1, T2, T3, T4, T5, T6 }) { for (const auto T : { T1, T2, T3, T4, T5, T6 }) {
Point3 q(1, 0, 0); Point3 q(1, 0, 0);
Matrix H1 = numericalDerivative21<Point3, Similarity3, Point3>(f, T1, q); Matrix H1 = numericalDerivative21<Point3, Similarity3, Point3>(f, T, q);
Matrix H2 = numericalDerivative22<Point3, Similarity3, Point3>(f, T1, q); Matrix H2 = numericalDerivative22<Point3, Similarity3, Point3>(f, T, q);
Matrix actualH1, actualH2; Matrix actualH1, actualH2;
T1.transform_from(q, actualH1, actualH2); T.transform_from(q, actualH1, actualH2);
EXPECT(assert_equal(H1, actualH1)); EXPECT(assert_equal(H1, actualH1));
EXPECT(assert_equal(H2, actualH2)); EXPECT(assert_equal(H2, actualH2));
} }