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

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/geometry/OrientedPlane3.cpp
View File

@ -91,9 +91,9 @@ Vector3 OrientedPlane3::localCoordinates(const OrientedPlane3& y) const {
}
/* ************************************************************************* */
Vector3 OrientedPlane3::planeCoefficients() const {
Vector4 OrientedPlane3::planeCoefficients() const {
Vector unit_vec = n_.unitVector();
Vector3 a;
Vector4 a;
a << unit_vec[0], unit_vec[1], unit_vec[2], d_;
return a;
}

2
gtsam/geometry/OrientedPlane3.h
View File

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

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

@ -29,6 +29,18 @@ using boost::none;
GTSAM_CONCEPT_TESTABLE_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 transforming a plane to a pose