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fix: return plane coefficents dimension was wrong, should be Vector4, not Vector3

release/4.3a0
zhaoyang 2015-06-24 16:18:33 -04:00
parent 6c34ce1e80
commit ff14e576ee
3 changed files with 15 additions and 3 deletions
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4
gtsam/geometry/OrientedPlane3.cpp
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@ -91,9 +91,9 @@ Vector3 OrientedPlane3::localCoordinates(const OrientedPlane3& y) const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
Vector3 OrientedPlane3::planeCoefficients() const { Vector4 OrientedPlane3::planeCoefficients() const {
Vector unit_vec = n_.unitVector(); Vector unit_vec = n_.unitVector();
Vector3 a; Vector4 a;
a << unit_vec[0], unit_vec[1], unit_vec[2], d_; a << unit_vec[0], unit_vec[1], unit_vec[2], d_;
return a; return a;
} }

2
gtsam/geometry/OrientedPlane3.h
View File

@ -108,7 +108,7 @@ public:
Vector3 localCoordinates(const OrientedPlane3& s) const; Vector3 localCoordinates(const OrientedPlane3& s) const;
/// Returns the plane coefficients /// Returns the plane coefficients
Vector3 planeCoefficients() const; Vector4 planeCoefficients() const;
inline Unit3 normal() const { inline Unit3 normal() const {
return n_; return n_;

12
gtsam/geometry/tests/testOrientedPlane3.cpp
View File

@ -29,6 +29,18 @@ using boost::none;
GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3) GTSAM_CONCEPT_TESTABLE_INST(OrientedPlane3)
GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3) GTSAM_CONCEPT_MANIFOLD_INST(OrientedPlane3)
//*******************************************************************************
TEST (OrientedPlane3, get) {
Vector4 c;
c << -1, 0, 0, 5;
OrientedPlane3 plane1(c);
OrientedPlane3 plane2(c[0], c[1], c[2], c[3]);
Vector coefficient1 = plane1.planeCoefficients();
EXPECT(assert_equal(coefficient1, c, 1e-8));
Vector coefficient2 = plane2.planeCoefficients();
EXPECT(assert_equal(coefficient2, c, 1e-8));
}
//******************************************************************************* //*******************************************************************************
TEST (OrientedPlane3, transform) { TEST (OrientedPlane3, transform) {
// Test transforming a plane to a pose // Test transforming a plane to a pose