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fix rot3

release/4.3a0
Kartik Arcot 2023-01-21 22:55:47 -08:00
parent c4c15facba
commit d251803334
1 changed files with 5 additions and 6 deletions
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11
gtsam/geometry/tests/testRot3Q.cpp
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@ -1,4 +1,4 @@
/* ---------------------------------------------------------------------------- /* ------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation, * GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415 * Atlanta, Georgia 30332-0415
@ -30,7 +30,6 @@ using namespace gtsam;
//****************************************************************************** //******************************************************************************
TEST(Rot3Q , Compare) { TEST(Rot3Q , Compare) {
using {};
// We set up expected values with quaternions // We set up expected values with quaternions
typedef Quaternion Q; typedef Quaternion Q;
@ -47,8 +46,8 @@ TEST(Rot3Q , Compare) {
R R1(q1), R2(q2); R R1(q1), R2(q2);
// Check Compose // Check Compose
Q q3 = TQ::Compose(q1, q2, none, none); Q q3 = TQ::Compose(q1, q2, {}, {});
R R3 = TR::Compose(R1, R2, none, none); R R3 = TR::Compose(R1, R2, {}, {});
EXPECT(assert_equal(R(q3), R3)); EXPECT(assert_equal(R(q3), R3));
// Check Retract // Check Retract
@ -86,8 +85,8 @@ TEST(Rot3Q , Compare) {
// Check Compose Derivatives // Check Compose Derivatives
Matrix HQ, HR; Matrix HQ, HR;
HQ = numericalDerivative42<Q, Q, Q, OJ, OJ>(TQ::Compose, q1, q2, none, none); HQ = numericalDerivative42<Q, Q, Q, OJ, OJ>(TQ::Compose, q1, q2, {}, {});
HR = numericalDerivative42<R, R, R, OJ, OJ>(TR::Compose, R1, R2, none, none); HR = numericalDerivative42<R, R, R, OJ, OJ>(TR::Compose, R1, R2, {}, {});
EXPECT(assert_equal(HQ, HR)); EXPECT(assert_equal(HQ, HR));
} }