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Fixed invariant tests (which were basically no-ops)

release/4.3a0
dellaert 2015-05-24 10:26:07 -07:00
parent 379e0c6ede
commit b8e980258c
9 changed files with 58 additions and 58 deletions
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4
gtsam/base/tests/testLieScalar.cpp
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@ -37,8 +37,8 @@ TEST(LieScalar , Concept) {
//******************************************************************************
TEST(LieScalar , Invariants) {
LieScalar lie1(2), lie2(3);
check_group_invariants(lie1, lie2);
check_manifold_invariants(lie1, lie2);
CHECK(check_group_invariants(lie1, lie2));
CHECK(check_manifold_invariants(lie1, lie2));
}
/* ************************************************************************* */

8
gtsam/geometry/tests/testPoint2.cpp
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@ -37,8 +37,8 @@ TEST(Double , Concept) {
//******************************************************************************
TEST(Double , Invariants) {
double p1(2), p2(5);
check_group_invariants(p1, p2);
check_manifold_invariants(p1, p2);
EXPECT(check_group_invariants(p1, p2));
EXPECT(check_manifold_invariants(p1, p2));
}
//******************************************************************************
@ -51,8 +51,8 @@ TEST(Point2 , Concept) {
//******************************************************************************
TEST(Point2 , Invariants) {
Point2 p1(1, 2), p2(4, 5);
check_group_invariants(p1, p2);
check_manifold_invariants(p1, p2);
EXPECT(check_group_invariants(p1, p2));
EXPECT(check_manifold_invariants(p1, p2));
}
/* ************************************************************************* */

4
gtsam/geometry/tests/testPoint3.cpp
View File

@ -36,8 +36,8 @@ TEST(Point3 , Concept) {
//******************************************************************************
TEST(Point3 , Invariants) {
Point3 p1(1, 2, 3), p2(4, 5, 6);
check_group_invariants(p1, p2);
check_manifold_invariants(p1, p2);
EXPECT(check_group_invariants(p1, p2));
EXPECT(check_manifold_invariants(p1, p2));
}
/* ************************************************************************* */

16
gtsam/geometry/tests/testPose2.cpp
View File

@ -775,15 +775,15 @@ Pose2 T2(M_PI / 2.0, Point2(0.0, 2.0));
TEST(Pose2 , Invariants) {
Pose2 id;
check_group_invariants(id,id);
check_group_invariants(id,T1);
check_group_invariants(T2,id);
check_group_invariants(T2,T1);
EXPECT(check_group_invariants(id,id));
EXPECT(check_group_invariants(id,T1));
EXPECT(check_group_invariants(T2,id));
EXPECT(check_group_invariants(T2,T1));
check_manifold_invariants(id,id);
check_manifold_invariants(id,T1);
check_manifold_invariants(T2,id);
check_manifold_invariants(T2,T1);
EXPECT(check_manifold_invariants(id,id));
EXPECT(check_manifold_invariants(id,T1));
EXPECT(check_manifold_invariants(T2,id));
EXPECT(check_manifold_invariants(T2,T1));
}

16
gtsam/geometry/tests/testPose3.cpp
View File

@ -760,15 +760,15 @@ TEST( Pose3, stream)
TEST(Pose3 , Invariants) {
Pose3 id;
check_group_invariants(id,id);
check_group_invariants(id,T3);
check_group_invariants(T2,id);
check_group_invariants(T2,T3);
EXPECT(check_group_invariants(id,id));
EXPECT(check_group_invariants(id,T3));
EXPECT(check_group_invariants(T2,id));
EXPECT(check_group_invariants(T2,T3));
check_manifold_invariants(id,id);
check_manifold_invariants(id,T3);
check_manifold_invariants(T2,id);
check_manifold_invariants(T2,T3);
EXPECT(check_manifold_invariants(id,id));
EXPECT(check_manifold_invariants(id,T3));
EXPECT(check_manifold_invariants(T2,id));
EXPECT(check_manifold_invariants(T2,T3));
}
//******************************************************************************

16
gtsam/geometry/tests/testQuaternion.cpp
View File

@ -107,15 +107,15 @@ TEST(Quaternion , Inverse) {
//******************************************************************************
TEST(Quaternion , Invariants) {
check_group_invariants(id, id);
check_group_invariants(id, R1);
check_group_invariants(R2, id);
check_group_invariants(R2, R1);
EXPECT(check_group_invariants(id, id));
EXPECT(check_group_invariants(id, R1));
EXPECT(check_group_invariants(R2, id));
EXPECT(check_group_invariants(R2, R1));
check_manifold_invariants(id, id);
check_manifold_invariants(id, R1);
check_manifold_invariants(R2, id);
check_manifold_invariants(R2, R1);
EXPECT(check_manifold_invariants(id, id));
EXPECT(check_manifold_invariants(id, R1));
EXPECT(check_manifold_invariants(R2, id));
EXPECT(check_manifold_invariants(R2, R1));
}
//******************************************************************************

16
gtsam/geometry/tests/testRot2.cpp
View File

@ -163,15 +163,15 @@ Rot2 T2(0.2);
TEST(Rot2 , Invariants) {
Rot2 id;
check_group_invariants(id,id);
check_group_invariants(id,T1);
check_group_invariants(T2,id);
check_group_invariants(T2,T1);
EXPECT(check_group_invariants(id,id));
EXPECT(check_group_invariants(id,T1));
EXPECT(check_group_invariants(T2,id));
EXPECT(check_group_invariants(T2,T1));
check_manifold_invariants(id,id);
check_manifold_invariants(id,T1);
check_manifold_invariants(T2,id);
check_manifold_invariants(T2,T1);
EXPECT(check_manifold_invariants(id,id));
EXPECT(check_manifold_invariants(id,T1));
EXPECT(check_manifold_invariants(T2,id));
EXPECT(check_manifold_invariants(T2,T1));
}

20
gtsam/geometry/tests/testRot3.cpp
View File

@ -659,17 +659,17 @@ Rot3 T2(Rot3::rodriguez(Vector3(0, 1, 0), 2));
TEST(Rot3 , Invariants) {
Rot3 id;
check_group_invariants(id,id);
check_group_invariants(id,T1);
check_group_invariants(T2,id);
check_group_invariants(T2,T1);
check_group_invariants(T1,T2);
EXPECT(check_group_invariants(id,id));
EXPECT(check_group_invariants(id,T1));
EXPECT(check_group_invariants(T2,id));
EXPECT(check_group_invariants(T2,T1));
EXPECT(check_group_invariants(T1,T2));
check_manifold_invariants(id,id);
check_manifold_invariants(id,T1);
check_manifold_invariants(T2,id);
check_manifold_invariants(T2,T1);
check_manifold_invariants(T1,T2);
EXPECT(check_manifold_invariants(id,id));
EXPECT(check_manifold_invariants(id,T1));
EXPECT(check_manifold_invariants(T2,id));
EXPECT(check_manifold_invariants(T2,T1));
EXPECT(check_manifold_invariants(T1,T2));
}
//******************************************************************************

16
gtsam/geometry/tests/testSO3.cpp
View File

@ -57,15 +57,15 @@ TEST(SO3 , Retract) {
//******************************************************************************
TEST(SO3 , Invariants) {
check_group_invariants(id,id);
check_group_invariants(id,R1);
check_group_invariants(R2,id);
check_group_invariants(R2,R1);
EXPECT(check_group_invariants(id,id));
EXPECT(check_group_invariants(id,R1));
EXPECT(check_group_invariants(R2,id));
EXPECT(check_group_invariants(R2,R1));
check_manifold_invariants(id,id);
check_manifold_invariants(id,R1);
check_manifold_invariants(R2,id);
check_manifold_invariants(R2,R1);
EXPECT(check_manifold_invariants(id,id));
EXPECT(check_manifold_invariants(id,R1));
EXPECT(check_manifold_invariants(R2,id));
EXPECT(check_manifold_invariants(R2,R1));
}
//******************************************************************************