31 lines
818 B
C++
31 lines
818 B
C++
/**
|
|
* @file testLieScalar.cpp
|
|
* @author Kai Ni
|
|
*/
|
|
|
|
#include <gtsam/CppUnitLite/TestHarness.h>
|
|
|
|
#include <gtsam/base/LieScalar.h>
|
|
|
|
using namespace gtsam;
|
|
|
|
/* ************************************************************************* */
|
|
TEST( testLieScalar, construction ) {
|
|
double d = 2.;
|
|
LieScalar lie1(d), lie2(d);
|
|
|
|
EXPECT(lie1.dim() == 1);
|
|
EXPECT(assert_equal(lie1, lie2));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
TEST( testLieScalar, logmap ) {
|
|
LieScalar lie1(1.), lie2(3.);
|
|
|
|
EXPECT(assert_equal(Vector_(1, 2.), lie1.logmap(lie2)));
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
|
|
/* ************************************************************************* */
|