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release/4.3a0
dellaert 2016-02-07 22:29:51 -08:00
parent fb3eda5eee
commit e39eed661e
1 changed files with 24 additions and 26 deletions
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12
gtsam_unstable/geometry/tests/testSimilarity3.cpp
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@ -45,7 +45,8 @@ static const Rot3 R = Rot3::Rodrigues(0.3, 0, 0);
static const double s = 4;
static const Similarity3 id;
static const Similarity3 T1(R, Point3(3.5, -8.2, 4.2), 1);
static const Similarity3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1), Point3(3.5, -8.2, 4.2), 1);
static const Similarity3 T2(Rot3::Rodrigues(0.3, 0.2, 0.1),
Point3(3.5, -8.2, 4.2), 1);
static const Similarity3 T3(Rot3::Rodrigues(-90, 0, 0), Point3(1, 2, 3), 1);
static const Similarity3 T4(R, P, s);
static const Similarity3 T5(R, P, 10);
@ -187,11 +188,7 @@ TEST(Similarity3, manifold_first_order) {
// Return as a 4*4 Matrix
TEST(Similarity3, Matrix) {
Matrix4 expected;
expected <<
1, 0, 0, 1,
0, 1, 0, 1,
0, 0, 1, 0,
0, 0, 0, 0.5;
expected << 1, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0.5;
Matrix4 actual = T6.matrix();
EXPECT(assert_equal(expected, actual));
}
@ -214,7 +211,8 @@ TEST(Similarity3, ExpLogMap) {
EXPECT(assert_equal(expZero, ident));
// Compare to matrix exponential, using expm in Lie.h
EXPECT(assert_equal(expm<Similarity3>(delta), Similarity3::Expmap(delta), 1e-3));
EXPECT(
assert_equal(expm<Similarity3>(delta), Similarity3::Expmap(delta), 1e-3));
}
//******************************************************************************