12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #334 from martinvl/fix/unit3-copy-assign 

Fix Unit3 copy assign
release/4.3a0
Frank Dellaert 2020-07-09 15:19:35 -04:00 committed by GitHub
parent d0318172af a6e9b0287e
commit f280aec428
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 11 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/geometry/Unit3.h
View File

@ -90,6 +90,8 @@ public:
/// Copy assignment /// Copy assignment
Unit3& operator=(const Unit3 & u) { Unit3& operator=(const Unit3 & u) {
p_ = u.p_; p_ = u.p_;
B_ = u.B_;
H_B_ = u.H_B_;
return *this; return *this;
} }

9
gtsam/geometry/tests/testUnit3.cpp
View File

@ -484,6 +484,15 @@ TEST(Unit3, ErrorBetweenFactor) {
} }
} }
TEST(Unit3, CopyAssign) {
Unit3 p{1, 0.2, 0.3};
EXPECT(p.error(p).isZero());
p = Unit3{-1, 2, 8};
EXPECT(p.error(p).isZero());
}
/* ************************************************************************* */ /* ************************************************************************* */
TEST(actualH, Serialization) { TEST(actualH, Serialization) {
Unit3 p(0, 1, 0); Unit3 p(0, 1, 0);