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Added more tests to diagnose problem in Sphere2::localCoordinates

release/4.3a0
dellaert 2014-02-22 15:52:50 -05:00
parent 39b3b2160e
commit dabd3cc612
1 changed files with 16 additions and 2 deletions
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18
gtsam/geometry/tests/testSphere2.cpp
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@ -154,9 +154,23 @@ TEST(Sphere2, distance) {
//******************************************************************************* //*******************************************************************************
TEST(Sphere2, localCoordinates0) { TEST(Sphere2, localCoordinates0) {
Sphere2 p; Sphere2 p;
Vector expected = zero(2);
Vector actual = p.localCoordinates(p); 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));
} }
//******************************************************************************* //*******************************************************************************