int main()
{
int n = 100000; long timeLog, timeLog2; double seconds;
// create a random direction:
double norm=sqrt(1.0+16.0+4.0);
double x=1.0/norm, y=4.0/norm, z=2.0/norm;
Vector v = Vector_(3,x,y,z);
Rot3 R = Rot3::rodriguez(0.1, 0.4, 0.2), R2 = R.retract(v);
TEST("Rodriguez formula given axis angle", Rot3::rodriguez(v,0.001))
TEST("Rodriguez formula given canonical coordinates", Rot3::rodriguez(v))
TEST("Expmap", R*Rot3::Expmap(v))
TEST("Retract", R.retract(v))
TEST("Logmap", Rot3::Logmap(R.between(R2)))
TEST("localCoordinates", R.localCoordinates(R2))
TEST("Slow rotation matrix",Rot3::Rz(z)*Rot3::Ry(y)*Rot3::Rx(x))
TEST("Fast Rotation matrix", Rot3::RzRyRx(x,y,z))
return 0;
}
