/* ************************************************************************* */
int main()
{
int n = 50000000;
cout << "NOTE: Times are reported for " << n << " calls" << endl;
Vector1 v; v << 0.1;
Rot2 R = Rot2(0.4), R2(0.5), R3(0.6);
TEST(Rot2_Expmap, Rot2::Expmap(v));
TEST(Rot2_Retract, R.retract(v));
TEST(Rot2_Logmap, Rot2::Logmap(R2));
TEST(Rot2_between, R.between(R2));
TEST(betweenDefault, Rot2betweenDefault(R, R2));
TEST(betweenOptimized, Rot2betweenOptimized(R, R2));
TEST(Rot2_localCoordinates, R.localCoordinates(R2));
Matrix H1, H2;
Matrix1 H1f, H2f;
TEST(Rot2BetweenFactorEvaluateErrorDefault, Rot2BetweenFactorEvaluateErrorDefault(R3, R, R2, H1, H2));
TEST(Rot2BetweenFactorEvaluateErrorOptimizedBetween, Rot2BetweenFactorEvaluateErrorOptimizedBetween(R3, R, R2, H1, H2));
TEST(Rot2BetweenFactorEvaluateErrorOptimizedBetweenNoeye, Rot2BetweenFactorEvaluateErrorOptimizedBetweenNoeye(R3, R, R2, H1, H2));
TEST(Rot2BetweenFactorEvaluateErrorOptimizedBetweenFixed, Rot2BetweenFactorEvaluateErrorOptimizedBetweenFixed(R3, R, R2, H1f, H2f));
// Print timings
tictoc_print_();
return 0;
}
/* ************************************************************************* */
Vector Rot2BetweenFactorEvaluateErrorDefault(const Rot2& measured, const Rot2& p1, const Rot2& p2,
boost::optional<Matrix&> H1, boost::optional<Matrix&> H2)
{
Rot2 hx = p1.between(p2, H1, H2); // h(x)
// manifold equivalent of h(x)-z -> log(z,h(x))
return measured.localCoordinates(hx);
}