void tests() {
typedef RxSO3Group<Scalar> RxSO3Type;
typedef typename RxSO3Group<Scalar>::Point Point;
typedef typename RxSO3Group<Scalar>::Tangent Tangent;
vector<RxSO3Type> rxso3_vec;
rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.2, 0.5, 0.0, 1.)));
rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.2, 0.5, -1.0, 1.1)));
rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0., 1.1)));
rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0.00001, 0.)));
rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0.00001, 0.00001)));
rxso3_vec.push_back(RxSO3Type::exp(Tangent(0., 0., 0.00001, 0)));
rxso3_vec.push_back(RxSO3Type::exp(Tangent(M_PI, 0, 0, 0.9)));
rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.2, 0.5, 0.0,0))
*RxSO3Type::exp(Tangent(M_PI, 0, 0,0.0))
*RxSO3Type::exp(Tangent(-0.2, -0.5, -0.0,0)));
rxso3_vec.push_back(RxSO3Type::exp(Tangent(0.3, 0.5, 0.1,0))
*RxSO3Type::exp(Tangent(M_PI, 0, 0,0))
*RxSO3Type::exp(Tangent(-0.3, -0.5, -0.1,0)));
vector<Tangent> tangent_vec;
Tangent tmp;
tmp << 0,0,0,0;
tangent_vec.push_back(tmp);
tmp << 1,0,0,0;
tangent_vec.push_back(tmp);
tmp << 1,0,0,0.1;
tangent_vec.push_back(tmp);
tmp << 0,1,0,0.1;
tangent_vec.push_back(tmp);
tmp << 0,0,1,-0.1;
tangent_vec.push_back(tmp);
tmp << -1,1,0,-0.1;
tangent_vec.push_back(tmp);
tmp << 20,-1,0,2;
tangent_vec.push_back(tmp);
vector<Point> point_vec;
point_vec.push_back(Point(1,2,4));
Tests<RxSO3Type> tests;
tests.setGroupElements(rxso3_vec);
tests.setTangentVectors(tangent_vec);
tests.setPoints(point_vec);
tests.runAllTests();
}
void tests() {
typedef SO2Group<Scalar> SO2Type;
typedef SE2Group<Scalar> SE2Type;
typedef typename SE2Group<Scalar>::Point Point;
typedef typename SE2Group<Scalar>::Tangent Tangent;
vector<SE2Type, Eigen::aligned_allocator<SE2Type> > se2_vec;
se2_vec.push_back(SE2Type(SO2Type(0.0),Point(0,0)));
se2_vec.push_back(SE2Type(SO2Type(0.2),Point(10,0)));
se2_vec.push_back(SE2Type(SO2Type(0.),Point(0,100)));
se2_vec.push_back(SE2Type(SO2Type(-1.),Point(20,-1)));
se2_vec.push_back(SE2Type(SO2Type(0.00001),
Point(-0.00000001,0.0000000001)));
se2_vec.push_back(SE2Type(SO2Type(0.2),Point(0,0))
*SE2Type(SO2Type(M_PI),Point(0,0))
*SE2Type(SO2Type(-0.2),Point(0,0)));
se2_vec.push_back(SE2Type(SO2Type(0.3),Point(2,0))
*SE2Type(SO2Type(M_PI),Point(0,0))
*SE2Type(SO2Type(-0.3),Point(0,6)));
vector<Tangent, Eigen::aligned_allocator<Tangent> > tangent_vec;
Tangent tmp;
tmp << 0,0,0;
tangent_vec.push_back(tmp);
tmp << 1,0,0;
tangent_vec.push_back(tmp);
tmp << 0,1,1;
tangent_vec.push_back(tmp);
tmp << -1,1,0;
tangent_vec.push_back(tmp);
tmp << 20,-1,-1;
tangent_vec.push_back(tmp);
tmp << 30,5,20;
tangent_vec.push_back(tmp);
vector<Point, Eigen::aligned_allocator<Point> > point_vec;
point_vec.push_back(Point(1,2));
Tests<SE2Type> tests;
tests.setGroupElements(se2_vec);
tests.setTangentVectors(tangent_vec);
tests.setPoints(point_vec);
tests.runAllTests();
}
