C++ (Cpp) Rot2::unrotate Examples

Example #1

File: testRot2.cpp Project: DForger/gtsam

TEST( Rot2, unrotate)
{
  Matrix H1, H2;
  Point2 w = R * P, actual = R.unrotate(w, H1, H2);
  CHECK(assert_equal(actual,P));
  Matrix numerical1 = numericalDerivative21(unrotate_, R, w);
  CHECK(assert_equal(numerical1,H1));
  Matrix numerical2 = numericalDerivative22(unrotate_, R, w);
  CHECK(assert_equal(numerical2,H2));
}

Example #2

File: testRot2.cpp Project: DForger/gtsam

// unrotate and derivatives
inline Point2 unrotate_(const Rot2& R, const Point2& p) {return R.unrotate(p);}