From dabd3cc61254e0ad9a7044b598a7a2348b83b6a9 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 22 Feb 2014 15:52:50 -0500 Subject: [PATCH] Added more tests to diagnose problem in Sphere2::localCoordinates --- gtsam/geometry/tests/testSphere2.cpp | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/tests/testSphere2.cpp b/gtsam/geometry/tests/testSphere2.cpp index 4fffc4b9f..c78b2bf91 100644 --- a/gtsam/geometry/tests/testSphere2.cpp +++ b/gtsam/geometry/tests/testSphere2.cpp @@ -154,9 +154,23 @@ TEST(Sphere2, distance) { //******************************************************************************* TEST(Sphere2, localCoordinates0) { Sphere2 p; - Vector expected = zero(2); Vector actual = p.localCoordinates(p); - EXPECT(assert_equal(expected, actual, 1e-8)); + EXPECT(assert_equal(zero(2), actual, 1e-8)); +} + +//******************************************************************************* +TEST(Sphere2, localCoordinates1) { + Sphere2 p, q(1, 6.12385e-21, 0); + Vector actual = p.localCoordinates(q); + CHECK(assert_equal(zero(2), actual, 1e-8)); +} + +//******************************************************************************* +TEST(Sphere2, localCoordinates2) { + Sphere2 p, q(-1, 0, 0); + Vector expected = (Vector(2) << M_PI, 0); + Vector actual = p.localCoordinates(q); + CHECK(assert_equal(expected, actual, 1e-8)); } //*******************************************************************************