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#include "manif/SO2.h"
#include "../gtest_manif_utils.h"
using namespace manif;
TEST(TEST_SO2, TEST_SO2_TANGENT_MAP_0)
{
double data(MANIF_PI);
Eigen::Map<SO2Tangentd> so2tan(&data);
EXPECT_DOUBLE_EQ(MANIF_PI, so2tan.angle());
}
TEST(TEST_SO2, TEST_SO2_TANGENT_MAP_DATA)
{
/// @todo without specifying const
/// it calls non-const data()
double data(MANIF_PI);
const Eigen::Map<SO2Tangentd> so2tan(&data);
// EXPECT_NE(nullptr, so2tan.data());
// EXPECT_EQ(&data, so2tan.data()->data());
// EXPECT_DOUBLE_EQ(MANIF_PI, (*so2tan.data())(0));
}
TEST(TEST_SO2, TEST_SO2_TANGENT_MAP_ZERO)
{
double data(1);
Eigen::Map<SO2Tangentd> so2tan(&data);
so2tan.setZero();
EXPECT_DOUBLE_EQ(0, so2tan.angle());
}
TEST(TEST_SO2, TEST_SO2_TANGENT_MAP_ZERO2)
{
double data(1);
Eigen::Map<SO2Tangentd> so2tan(&data);
so2tan = SO2Tangentd::Zero();
EXPECT_DOUBLE_EQ(0, so2tan.angle());
}
//TEST(TEST_SO2, TEST_SO2_RANDOM)
//{
// SO2d so2;
// so2.setRandom();
// EXPECT_DOUBLE_EQ(0, so2.angle());
//}
//TEST(TEST_SO2, TEST_SO2_RANDOM2)
//{
// SO2d so2 = SO2d::Random();
// EXPECT_DOUBLE_EQ(0, so2.angle());
//}
TEST(TEST_SO2, TEST_SO2_TANGENT_MAP_RETRACT)
{
double data(MANIF_PI);
Eigen::Map<SO2Tangentd> so2tan(&data);
EXPECT_DOUBLE_EQ(MANIF_PI, so2tan.angle());
auto so2_exp = so2tan.exp();
EXPECT_DOUBLE_EQ(std::cos(MANIF_PI), so2_exp.real());
EXPECT_DOUBLE_EQ(std::sin(MANIF_PI), so2_exp.imag());
EXPECT_DOUBLE_EQ(MANIF_PI, so2_exp.angle());
}
/// with Jacs
TEST(TEST_SO2, TEST_SO2_TANGENT_MAP_RETRACT_JAC)
{
double data(MANIF_PI);
Eigen::Map<SO2Tangentd> so2tan(&data);
EXPECT_DOUBLE_EQ(MANIF_PI, so2tan.angle());
SO2d::Jacobian J_ret;
SO2d so2_exp = so2tan.exp(J_ret);
EXPECT_DOUBLE_EQ(std::cos(MANIF_PI), so2_exp.real());
EXPECT_DOUBLE_EQ(std::sin(MANIF_PI), so2_exp.imag());
EXPECT_DOUBLE_EQ(MANIF_PI, so2_exp.angle());
/// @todo check this J
EXPECT_EQ(1, J_ret.rows());
EXPECT_EQ(1, J_ret.cols());
EXPECT_DOUBLE_EQ(1, J_ret(0));
}
MANIF_RUN_ALL_TEST;
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