void testCanonicalAngles() {
typedef Matrix<double, Dynamic, Dynamic, RowMajor> MatT;
double AData[] = {
1, 2,
3, 4,
5, 6
};
double BData[] = {
1, 5,
3, 7,
5, -1
};
Map<MatT> A(AData, 3, 2);
Map<MatT> B(BData, 3, 2);
cout<<A<<endl;
cout<<B<<endl;
VectorXd expectedCos(2);
expectedCos(0) = 1.000;
expectedCos(1) = 0.856;
MatrixXd U, V;
VectorXd cosines;
canonicalAngles(A, B, U, V, cosines);
cout<<expectedCos<<endl;
cout<<cosines<<endl;
assert(cosines.isApprox(expectedCos, 10E-4));
}
