52 lines
1.5 KiB
C++
52 lines
1.5 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file testLieVector.cpp
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* @author Alex Cunningham
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*/
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/base/LieVector.h>
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( testLieVector, construction ) {
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Vector v = Vector_(3, 1.0, 2.0, 3.0);
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LieVector lie1(v), lie2(v);
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EXPECT(lie1.dim() == 3);
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EXPECT(assert_equal(v, lie1.vector()));
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EXPECT(assert_equal(lie1, lie2));
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}
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/* ************************************************************************* */
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TEST( testLieVector, other_constructors ) {
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Vector init = Vector_(2, 10.0, 20.0);
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LieVector exp(init);
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LieVector a(2,10.0,20.0);
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double data[] = {10,20};
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LieVector b(2,data);
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LieVector c(2.3), c_exp(LieVector(1, 2.3));
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EXPECT(assert_equal(exp, a));
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EXPECT(assert_equal(exp, b));
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EXPECT(assert_equal(b, a));
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EXPECT(assert_equal(c_exp, c));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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