From f7fed8b5f50218a289a97e65b104465e1f1aca7b Mon Sep 17 00:00:00 2001
From: Gerry Chen <gerry.chen2015@gmail.com>
Date: Mon, 4 Oct 2021 11:19:19 -0400
Subject: [PATCH] review comment: move check outside lambda

---
 gtsam/geometry/tests/testPose3.cpp | 36 +++++++++++++++++-------------
 1 file changed, 21 insertions(+), 15 deletions(-)

diff --git a/gtsam/geometry/tests/testPose3.cpp b/gtsam/geometry/tests/testPose3.cpp
index 722087934..fe527ab2e 100644
--- a/gtsam/geometry/tests/testPose3.cpp
+++ b/gtsam/geometry/tests/testPose3.cpp
@@ -149,16 +149,17 @@ TEST(Pose3, Adjoint_full)
 // Check Adjoint numerical derivatives
 TEST(Pose3, Adjoint_jacobians)
 {
+  Vector6 xi = (Vector6() << 0.1, 1.2, 2.3, 3.1, 1.4, 4.5).finished();
+
+  // Check evaluation sanity check
+  EQUALITY(static_cast<gtsam::Vector>(T.AdjointMap() * xi), T.Adjoint(xi));
+  EQUALITY(static_cast<gtsam::Vector>(T2.AdjointMap() * xi), T2.Adjoint(xi));
+  EQUALITY(static_cast<gtsam::Vector>(T3.AdjointMap() * xi), T3.Adjoint(xi));
+
+  // Check jacobians
   Matrix6 actualH1, actualH2, expectedH1, expectedH2;
   std::function<Vector6(const Pose3&, const Vector6&)> Adjoint_proxy =
-      [&](const Pose3& T, const Vector6& xi) {
-        Vector6 res1 = T.AdjointMap() * xi, res2 = T.Adjoint(xi);
-        EXPECT(assert_equal(res1, res2));
-        return res1;
-      };
-
-  gtsam::Vector6 xi =
-      (gtsam::Vector6() << 0.1, 1.2, 2.3, 3.1, 1.4, 4.5).finished();
+      [&](const Pose3& T, const Vector6& xi) { return T.AdjointMap() * xi; };
 
   T.Adjoint(xi, actualH1, actualH2);
   expectedH1 = numericalDerivative21(Adjoint_proxy, T, xi);
@@ -183,18 +184,23 @@ TEST(Pose3, Adjoint_jacobians)
 // Check AdjointTranspose and jacobians
 TEST(Pose3, AdjointTranspose)
 {
+  Vector6 xi = (Vector6() << 0.1, 1.2, 2.3, 3.1, 1.4, 4.5).finished();
+
+  // Check evaluation
+  EQUALITY(static_cast<Vector>(T.AdjointMap().transpose() * xi),
+           T.AdjointTranspose(xi));
+  EQUALITY(static_cast<Vector>(T2.AdjointMap().transpose() * xi),
+           T2.AdjointTranspose(xi));
+  EQUALITY(static_cast<Vector>(T3.AdjointMap().transpose() * xi),
+           T3.AdjointTranspose(xi));
+
+  // Check jacobians
   Matrix6 actualH1, actualH2, expectedH1, expectedH2;
   std::function<Vector6(const Pose3&, const Vector6&)> AdjointTranspose_proxy =
       [&](const Pose3& T, const Vector6& xi) {
-        Vector6 res1 = T.AdjointMap().transpose() * xi,
-                res2 = T.AdjointTranspose(xi);
-        EXPECT(assert_equal(res1, res2));
-        return res1;
+        return T.AdjointMap().transpose() * xi;
       };
 
-  gtsam::Vector6 xi =
-      (gtsam::Vector6() << 0.1, 1.2, 2.3, 3.1, 1.4, 4.5).finished();
-
   T.AdjointTranspose(xi, actualH1, actualH2);
   expectedH1 = numericalDerivative21(AdjointTranspose_proxy, T, xi);
   expectedH2 = numericalDerivative22(AdjointTranspose_proxy, T, xi);