2010-10-14 12:54:38 +08:00
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/* ----------------------------------------------------------------------------
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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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2010-09-30 11:37:15 +08:00
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/**
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* @file testLieScalar.cpp
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* @author Kai Ni
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*/
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#include <gtsam/CppUnitLite/TestHarness.h>
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#include <gtsam/base/LieScalar.h>
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using namespace gtsam;
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/* ************************************************************************* */
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TEST( testLieScalar, construction ) {
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double d = 2.;
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LieScalar lie1(d), lie2(d);
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EXPECT(lie1.dim() == 1);
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EXPECT(assert_equal(lie1, lie2));
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}
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/* ************************************************************************* */
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TEST( testLieScalar, logmap ) {
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LieScalar lie1(1.), lie2(3.);
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EXPECT(assert_equal(Vector_(1, 2.), lie1.logmap(lie2)));
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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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