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#include <gtest/gtest.h>
#include "manif/Rn.h"
#include "../common_tester.h"
#include <Eigen/StdVector>
using namespace manif;
// specialize std::vector for 'fixed-size vectorizable' Eigen object
// that are multiple of 32 bytes
// @todo: investigate why only this alignment is troublesome
// especially, SO3 wasn't an issue despite being Eigen::Vector4d too...
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(R4d)
#ifdef MANIF_COVERAGE_ENABLED
MANIF_TEST(R4d);
MANIF_TEST_JACOBIANS(R4d);
#else
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(R8d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(R8f)
TEST(TEST_RN, TEST_RN_VEC_ASSIGN_OP)
{
{
R1d::DataType data = R1d::DataType::Random();
R1d r1;
r1 = data;
EXPECT_EIGEN_NEAR(data, r1.coeffs());
}
{
R2d::DataType data = R2d::DataType::Random();
R2d r2;
r2 = data;
EXPECT_EIGEN_NEAR(data, r2.coeffs());
}
{
R3d::DataType data = R3d::DataType::Random();
R3d r3;
r3 = data;
EXPECT_EIGEN_NEAR(data, r3.coeffs());
}
{
R4d::DataType data = R4d::DataType::Random();
R4d r4;
r4 = data;
EXPECT_EIGEN_NEAR(data, r4.coeffs());
}
{
R5d::DataType data = R5d::DataType::Random();
R5d r5;
r5 = data;
EXPECT_EIGEN_NEAR(data, r5.coeffs());
}
{
R6d::DataType data = R6d::DataType::Random();
R6d r6;
r6 = data;
EXPECT_EIGEN_NEAR(data, r6.coeffs());
}
{
R7d::DataType data = R7d::DataType::Random();
R7d r7;
r7 = data;
EXPECT_EIGEN_NEAR(data, r7.coeffs());
}
{
R8d::DataType data = R8d::DataType::Random();
R8d r8;
r8 = data;
EXPECT_EIGEN_NEAR(data, r8.coeffs());
}
{
R9d::DataType data = R9d::DataType::Random();
R9d r9;
r9 = data;
EXPECT_EIGEN_NEAR(data, r9.coeffs());
}
}
// This is a little too heavy for coverage and not relevant...
MANIF_TEST(R1f);
MANIF_TEST(R2f);
MANIF_TEST(R3f);
MANIF_TEST(R4f);
#ifdef MANIF_FULL_RN_TEST
MANIF_TEST(R5f);
MANIF_TEST(R6f);
MANIF_TEST(R7f);
MANIF_TEST(R8f);
MANIF_TEST(R9f);
#endif
MANIF_TEST_MAP(R1f);
MANIF_TEST_MAP(R2f);
MANIF_TEST_MAP(R3f);
MANIF_TEST_MAP(R4f);
#ifdef MANIF_FULL_RN_TEST
MANIF_TEST_MAP(R5f);
MANIF_TEST_MAP(R6f);
MANIF_TEST_MAP(R7f);
MANIF_TEST_MAP(R8f);
MANIF_TEST_MAP(R9f);
#endif
MANIF_TEST_JACOBIANS(R1f);
MANIF_TEST_JACOBIANS(R2f);
MANIF_TEST_JACOBIANS(R3f);
MANIF_TEST_JACOBIANS(R4f);
#ifdef MANIF_FULL_RN_TEST
MANIF_TEST_JACOBIANS(R5f);
MANIF_TEST_JACOBIANS(R6f);
MANIF_TEST_JACOBIANS(R7f);
MANIF_TEST_JACOBIANS(R8f);
MANIF_TEST_JACOBIANS(R9f);
#endif
MANIF_TEST(R1d);
MANIF_TEST(R2d);
MANIF_TEST(R3d);
MANIF_TEST(R4d);
#ifdef MANIF_FULL_RN_TEST
MANIF_TEST(R5d);
MANIF_TEST(R6d);
MANIF_TEST(R7d);
MANIF_TEST(R8d);
MANIF_TEST(R9d);
#endif
MANIF_TEST_MAP(R1d);
MANIF_TEST_MAP(R2d);
MANIF_TEST_MAP(R3d);
MANIF_TEST_MAP(R4d);
#ifdef MANIF_FULL_RN_TEST
MANIF_TEST_MAP(R5d);
MANIF_TEST_MAP(R6d);
MANIF_TEST_MAP(R7d);
MANIF_TEST_MAP(R8d);
MANIF_TEST_MAP(R9d);
#endif
MANIF_TEST_JACOBIANS(R1d);
MANIF_TEST_JACOBIANS(R2d);
MANIF_TEST_JACOBIANS(R3d);
MANIF_TEST_JACOBIANS(R4d);
#ifdef MANIF_FULL_RN_TEST
MANIF_TEST_JACOBIANS(R5d);
MANIF_TEST_JACOBIANS(R6d);
MANIF_TEST_JACOBIANS(R7d);
MANIF_TEST_JACOBIANS(R8d);
MANIF_TEST_JACOBIANS(R9d);
#endif
#endif
MANIF_RUN_ALL_TEST;
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