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add failing unit test on axisAngle for Rot3 in c++

release/4.3a0
John Lambert 2021-10-07 15:54:56 -04:00 committed by GitHub
parent e08800c4dc
commit 7083de35a4
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1 changed files with 15 additions and 0 deletions
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gtsam/geometry/tests/testRot3.cpp
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@ -122,6 +122,21 @@ TEST( Rot3, AxisAngle)
CHECK(assert_equal(expected,actual3,1e-5)); CHECK(assert_equal(expected,actual3,1e-5));
} }
/* ************************************************************************* */
TEST( Rot3, AxisAngle2)
{
// constructor from a rotation matrix, as doubles in *row-major* order.
Rot3 R1(-0.999957, 0.00922903, 0.00203116, 0.00926964, 0.999739, 0.0208927, -0.0018374, 0.0209105, -0.999781);
Unit3 actualAxis;
double actualAngle;
// convert Rot3 to quaternion using GTSAM
std::tie(actualAxis, actualAngle) = R1.axisAngle();
double expectedAngle = 3.1396582;
CHECK(assert_equal(expectedAngle, actualAngle, 1e-7));
}
/* ************************************************************************* */ /* ************************************************************************* */
TEST( Rot3, Rodrigues) TEST( Rot3, Rodrigues)
{ {