use anonymous namespace
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				|  | @ -796,16 +796,14 @@ TEST(Pose2, align_4) { | |||
| } | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
| namespace pose2_example { | ||||
| namespace { | ||||
| Pose2 id; | ||||
| Pose2 T1(M_PI / 4.0, Point2(sqrt(0.5), sqrt(0.5))); | ||||
| Pose2 T2(M_PI / 2.0, Point2(0.0, 2.0)); | ||||
| }  // namespace pose2_example
 | ||||
| }  // namespace
 | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Pose2, Invariants) { | ||||
|   using namespace pose2_example; | ||||
| 
 | ||||
|   EXPECT(check_group_invariants(id, id)); | ||||
|   EXPECT(check_group_invariants(id, T1)); | ||||
|   EXPECT(check_group_invariants(T2, id)); | ||||
|  | @ -819,8 +817,6 @@ TEST(Pose2, Invariants) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Pose2, LieGroupDerivatives) { | ||||
|   using namespace pose2_example; | ||||
| 
 | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(id, id); | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(id, T2); | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(T2, id); | ||||
|  | @ -829,8 +825,6 @@ TEST(Pose2, LieGroupDerivatives) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Pose2, ChartDerivatives) { | ||||
|   using namespace pose2_example; | ||||
| 
 | ||||
|   CHECK_CHART_DERIVATIVES(id, id); | ||||
|   CHECK_CHART_DERIVATIVES(id, T2); | ||||
|   CHECK_CHART_DERIVATIVES(T2, id); | ||||
|  |  | |||
|  | @ -102,17 +102,15 @@ TEST(Quaternion , Inverse) { | |||
| } | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
| namespace q_example { | ||||
| namespace { | ||||
| Vector3 Q_z_axis(0, 0, 1); | ||||
| Q id(Eigen::AngleAxisd(0, Q_z_axis)); | ||||
| Q R1(Eigen::AngleAxisd(1, Q_z_axis)); | ||||
| Q R2(Eigen::AngleAxisd(2, Vector3(0, 1, 0))); | ||||
| }  // namespace q_example
 | ||||
| }  // namespace
 | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Quaternion, Invariants) { | ||||
|   using namespace q_example; | ||||
| 
 | ||||
|   EXPECT(check_group_invariants(id, id)); | ||||
|   EXPECT(check_group_invariants(id, R1)); | ||||
|   EXPECT(check_group_invariants(R2, id)); | ||||
|  | @ -126,8 +124,6 @@ TEST(Quaternion, Invariants) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Quaternion, LieGroupDerivatives) { | ||||
|   using namespace q_example; | ||||
| 
 | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(id, id); | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(id, R2); | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(R2, id); | ||||
|  | @ -136,8 +132,6 @@ TEST(Quaternion, LieGroupDerivatives) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Quaternion, ChartDerivatives) { | ||||
|   using namespace q_example; | ||||
| 
 | ||||
|   CHECK_CHART_DERIVATIVES(id, id); | ||||
|   CHECK_CHART_DERIVATIVES(id, R2); | ||||
|   CHECK_CHART_DERIVATIVES(R2, id); | ||||
|  |  | |||
|  | @ -156,15 +156,14 @@ TEST( Rot2, relativeBearing ) | |||
| } | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
| namespace rot2_example { | ||||
| namespace { | ||||
| Rot2 id; | ||||
| Rot2 T1(0.1); | ||||
| Rot2 T2(0.2); | ||||
| }  // namespace rot2_example
 | ||||
| }  // namespace
 | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Rot2, Invariants) { | ||||
|   using namespace rot2_example; | ||||
|   EXPECT(check_group_invariants(id, id)); | ||||
|   EXPECT(check_group_invariants(id, T1)); | ||||
|   EXPECT(check_group_invariants(T2, id)); | ||||
|  | @ -178,7 +177,6 @@ TEST(Rot2, Invariants) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Rot2, LieGroupDerivatives) { | ||||
|   using namespace rot2_example; | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(id, id); | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(id, T2); | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(T2, id); | ||||
|  | @ -187,7 +185,6 @@ TEST(Rot2, LieGroupDerivatives) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Rot2, ChartDerivatives) { | ||||
|   using namespace rot2_example; | ||||
|   CHECK_CHART_DERIVATIVES(id, id); | ||||
|   CHECK_CHART_DERIVATIVES(id, T2); | ||||
|   CHECK_CHART_DERIVATIVES(T2, id); | ||||
|  |  | |||
|  | @ -640,16 +640,14 @@ TEST( Rot3, slerp) | |||
| } | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
| namespace rot3_example { | ||||
| namespace { | ||||
| Rot3 id; | ||||
| Rot3 T1(Rot3::AxisAngle(Vector3(0, 0, 1), 1)); | ||||
| Rot3 T2(Rot3::AxisAngle(Vector3(0, 1, 0), 2)); | ||||
| }  // namespace rot3_example
 | ||||
| }  // namespace
 | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Rot3, Invariants) { | ||||
|   using namespace rot3_example; | ||||
| 
 | ||||
|   EXPECT(check_group_invariants(id, id)); | ||||
|   EXPECT(check_group_invariants(id, T1)); | ||||
|   EXPECT(check_group_invariants(T2, id)); | ||||
|  | @ -665,8 +663,6 @@ TEST(Rot3, Invariants) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Rot3, LieGroupDerivatives) { | ||||
|   using namespace rot3_example; | ||||
| 
 | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(id, id); | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(id, T2); | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(T2, id); | ||||
|  | @ -676,8 +672,6 @@ TEST(Rot3, LieGroupDerivatives) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(Rot3, ChartDerivatives) { | ||||
|   using namespace rot3_example; | ||||
| 
 | ||||
|   if (ROT3_DEFAULT_COORDINATES_MODE == Rot3::EXPMAP) { | ||||
|     CHECK_CHART_DERIVATIVES(id, id); | ||||
|     CHECK_CHART_DERIVATIVES(id, T2); | ||||
|  |  | |||
|  | @ -67,16 +67,15 @@ TEST(SO3, ClosestTo) { | |||
| } | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
| namespace so3_example { | ||||
| namespace { | ||||
| SO3 id; | ||||
| Vector3 z_axis(0, 0, 1), v2(1, 2, 0), v3(1, 2, 3); | ||||
| SO3 R1(Eigen::AngleAxisd(0.1, z_axis)); | ||||
| SO3 R2(Eigen::AngleAxisd(0.2, z_axis)); | ||||
| }  // namespace so3_example
 | ||||
| }  // namespace
 | ||||
| 
 | ||||
| /* ************************************************************************* */ | ||||
| TEST(SO3, ChordalMean) { | ||||
|   using namespace so3_example; | ||||
|   std::vector<SO3> rotations = {R1, R1.inverse()}; | ||||
|   EXPECT(assert_equal(SO3(), SO3::ChordalMean(rotations))); | ||||
| } | ||||
|  | @ -84,7 +83,6 @@ TEST(SO3, ChordalMean) { | |||
| //******************************************************************************
 | ||||
| // Check that Hat specialization is equal to dynamic version
 | ||||
| TEST(SO3, Hat) { | ||||
|   using namespace so3_example; | ||||
|   EXPECT(assert_equal(SO3::Hat(z_axis), SOn::Hat(z_axis))); | ||||
|   EXPECT(assert_equal(SO3::Hat(v2), SOn::Hat(v2))); | ||||
|   EXPECT(assert_equal(SO3::Hat(v3), SOn::Hat(v3))); | ||||
|  | @ -93,7 +91,6 @@ TEST(SO3, Hat) { | |||
| //******************************************************************************
 | ||||
| // Check that Hat specialization is equal to dynamic version
 | ||||
| TEST(SO3, Vee) { | ||||
|   using namespace so3_example; | ||||
|   auto X1 = SOn::Hat(z_axis), X2 = SOn::Hat(v2), X3 = SOn::Hat(v3); | ||||
|   EXPECT(assert_equal(SO3::Vee(X1), SOn::Vee(X1))); | ||||
|   EXPECT(assert_equal(SO3::Vee(X2), SOn::Vee(X2))); | ||||
|  | @ -102,7 +99,6 @@ TEST(SO3, Vee) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO3, Local) { | ||||
|   using namespace so3_example; | ||||
|   Vector3 expected(0, 0, 0.1); | ||||
|   Vector3 actual = traits<SO3>::Local(R1, R2); | ||||
|   EXPECT(assert_equal((Vector)expected, actual)); | ||||
|  | @ -110,7 +106,6 @@ TEST(SO3, Local) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO3, Retract) { | ||||
|   using namespace so3_example; | ||||
|   Vector3 v(0, 0, 0.1); | ||||
|   SO3 actual = traits<SO3>::Retract(R1, v); | ||||
|   EXPECT(assert_equal(R2, actual)); | ||||
|  | @ -118,7 +113,6 @@ TEST(SO3, Retract) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO3, Logmap) { | ||||
|   using namespace so3_example; | ||||
|   Vector3 expected(0, 0, 0.1); | ||||
|   Vector3 actual = SO3::Logmap(R1.between(R2)); | ||||
|   EXPECT(assert_equal((Vector)expected, actual)); | ||||
|  | @ -126,7 +120,6 @@ TEST(SO3, Logmap) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO3, Expmap) { | ||||
|   using namespace so3_example; | ||||
|   Vector3 v(0, 0, 0.1); | ||||
|   SO3 actual = R1 * SO3::Expmap(v); | ||||
|   EXPECT(assert_equal(R2, actual)); | ||||
|  | @ -134,8 +127,6 @@ TEST(SO3, Expmap) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO3, Invariants) { | ||||
|   using namespace so3_example; | ||||
| 
 | ||||
|   EXPECT(check_group_invariants(id, id)); | ||||
|   EXPECT(check_group_invariants(id, R1)); | ||||
|   EXPECT(check_group_invariants(R2, id)); | ||||
|  | @ -149,7 +140,6 @@ TEST(SO3, Invariants) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO3, LieGroupDerivatives) { | ||||
|   using namespace so3_example; | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(id, id); | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(id, R2); | ||||
|   CHECK_LIE_GROUP_DERIVATIVES(R2, id); | ||||
|  | @ -158,7 +148,6 @@ TEST(SO3, LieGroupDerivatives) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO3, ChartDerivatives) { | ||||
|   using namespace so3_example; | ||||
|   CHECK_CHART_DERIVATIVES(id, id); | ||||
|   CHECK_CHART_DERIVATIVES(id, R2); | ||||
|   CHECK_CHART_DERIVATIVES(R2, id); | ||||
|  | @ -363,7 +352,6 @@ TEST(SO3, ApplyInvDexp) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO3, vec) { | ||||
|   using namespace so3_example; | ||||
|   const Vector9 expected = Eigen::Map<const Vector9>(R2.matrix().data()); | ||||
|   Matrix actualH; | ||||
|   const Vector9 actual = R2.vec(actualH); | ||||
|  |  | |||
|  | @ -55,7 +55,7 @@ TEST(SO4, Random) { | |||
| } | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
| namespace so4_example { | ||||
| namespace { | ||||
| SO4 id; | ||||
| Vector6 v1 = (Vector(6) << 0, 0, 0, 0.1, 0, 0).finished(); | ||||
| SO4 Q1 = SO4::Expmap(v1); | ||||
|  | @ -63,12 +63,10 @@ Vector6 v2 = (Vector(6) << 0.00, 0.00, 0.00, 0.01, 0.02, 0.03).finished(); | |||
| SO4 Q2 = SO4::Expmap(v2); | ||||
| Vector6 v3 = (Vector(6) << 1, 2, 3, 4, 5, 6).finished(); | ||||
| SO4 Q3 = SO4::Expmap(v3); | ||||
| }  // namespace so4_example
 | ||||
| }  // namespace
 | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO4, Expmap) { | ||||
|   using namespace so4_example; | ||||
| 
 | ||||
|   // If we do exponential map in SO(3) subgroup, topleft should be equal to R1.
 | ||||
|   auto R1 = SO3::Expmap(v1.tail<3>()).matrix(); | ||||
|   EXPECT((Q1.matrix().topLeftCorner<3, 3>().isApprox(R1))); | ||||
|  | @ -91,7 +89,6 @@ TEST(SO4, Expmap) { | |||
| //******************************************************************************
 | ||||
| // Check that Hat specialization is equal to dynamic version
 | ||||
| TEST(SO4, Hat) { | ||||
|   using namespace so4_example; | ||||
|   EXPECT(assert_equal(SO4::Hat(v1), SOn::Hat(v1))); | ||||
|   EXPECT(assert_equal(SO4::Hat(v2), SOn::Hat(v2))); | ||||
|   EXPECT(assert_equal(SO4::Hat(v3), SOn::Hat(v3))); | ||||
|  | @ -100,7 +97,6 @@ TEST(SO4, Hat) { | |||
| //******************************************************************************
 | ||||
| // Check that Hat specialization is equal to dynamic version
 | ||||
| TEST(SO4, Vee) { | ||||
|   using namespace so4_example; | ||||
|   auto X1 = SOn::Hat(v1), X2 = SOn::Hat(v2), X3 = SOn::Hat(v3); | ||||
|   EXPECT(assert_equal(SO4::Vee(X1), SOn::Vee(X1))); | ||||
|   EXPECT(assert_equal(SO4::Vee(X2), SOn::Vee(X2))); | ||||
|  | @ -109,8 +105,6 @@ TEST(SO4, Vee) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO4, Retract) { | ||||
|   using namespace so4_example; | ||||
| 
 | ||||
|   // Check that Cayley yields the same as Expmap for small values
 | ||||
|   EXPECT(assert_equal(id.retract(v1 / 100), SO4::Expmap(v1 / 100))); | ||||
|   EXPECT(assert_equal(id.retract(v2 / 100), SO4::Expmap(v2 / 100))); | ||||
|  | @ -127,7 +121,6 @@ TEST(SO4, Retract) { | |||
| //******************************************************************************
 | ||||
| // Check that Cayley is identical to dynamic version
 | ||||
| TEST(SO4, Local) { | ||||
|   using namespace so4_example; | ||||
|   EXPECT( | ||||
|       assert_equal(id.localCoordinates(Q1), SOn(4).localCoordinates(SOn(Q1)))); | ||||
|   EXPECT( | ||||
|  | @ -140,8 +133,6 @@ TEST(SO4, Local) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO4, Invariants) { | ||||
|   using namespace so4_example; | ||||
| 
 | ||||
|   EXPECT(check_group_invariants(id, id)); | ||||
|   EXPECT(check_group_invariants(id, Q1)); | ||||
|   EXPECT(check_group_invariants(Q2, id)); | ||||
|  | @ -157,8 +148,6 @@ TEST(SO4, Invariants) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO4, compose) { | ||||
|   using namespace so4_example; | ||||
| 
 | ||||
|   SO4 expected = Q1 * Q2; | ||||
|   Matrix actualH1, actualH2; | ||||
|   SO4 actual = Q1.compose(Q2, actualH1, actualH2); | ||||
|  | @ -175,8 +164,6 @@ TEST(SO4, compose) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO4, vec) { | ||||
|   using namespace so4_example; | ||||
| 
 | ||||
|   using Vector16 = SO4::VectorN2; | ||||
|   const Vector16 expected = Eigen::Map<const Vector16>(Q2.matrix().data()); | ||||
|   Matrix actualH; | ||||
|  | @ -189,8 +176,6 @@ TEST(SO4, vec) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO4, topLeft) { | ||||
|   using namespace so4_example; | ||||
| 
 | ||||
|   const Matrix3 expected = Q3.matrix().topLeftCorner<3, 3>(); | ||||
|   Matrix actualH; | ||||
|   const Matrix3 actual = topLeft(Q3, actualH); | ||||
|  | @ -204,8 +189,6 @@ TEST(SO4, topLeft) { | |||
| 
 | ||||
| //******************************************************************************
 | ||||
| TEST(SO4, stiefel) { | ||||
|   using namespace so4_example; | ||||
| 
 | ||||
|   const Matrix43 expected = Q3.matrix().leftCols<3>(); | ||||
|   Matrix actualH; | ||||
|   const Matrix43 actual = stiefel(Q3, actualH); | ||||
|  |  | |||
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