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fix skew symmetric test

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This commit is contained in:
Charlie Schlosser 2024-02-04 21:13:06 -05:00
parent 128c8abf44
commit ebd13c3b14
1 changed files with 3 additions and 3 deletions
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6
test/skew_symmetric_matrix3.cpp
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@ -177,7 +177,7 @@ void exponentialRotation() {
// rotate around z-axis // rotate around z-axis
Vector v2; Vector v2;
v2 << 0, 0, EIGEN_PI; v2 << 0, 0, Scalar(EIGEN_PI);
const SquareMatrix r2 = v2.asSkewSymmetric().exponential(); const SquareMatrix r2 = v2.asSkewSymmetric().exponential();
VERIFY_IS_APPROX(r2 * (Vector() << 1, 0, 0).finished(), (Vector() << -1, 0, 0).finished()); VERIFY_IS_APPROX(r2 * (Vector() << 1, 0, 0).finished(), (Vector() << -1, 0, 0).finished());
VERIFY_IS_APPROX(r2 * (Vector() << 0, 1, 0).finished(), (Vector() << 0, -1, 0).finished()); VERIFY_IS_APPROX(r2 * (Vector() << 0, 1, 0).finished(), (Vector() << 0, -1, 0).finished());
@ -196,8 +196,8 @@ EIGEN_DECLARE_TEST(skew_symmetric_matrix3) {
CALL_SUBTEST_2(plusMinus<double>()); CALL_SUBTEST_2(plusMinus<double>());
CALL_SUBTEST_2(multiplyScale<float>()); CALL_SUBTEST_2(multiplyScale<float>());
CALL_SUBTEST_2(multiplyScale<double>()); CALL_SUBTEST_2(multiplyScale<double>());
CALL_SUBTEST_2(skewSymmetricMultiplication(MatrixXf(3, internal::random<int>(1, EIGEN_TEST_MAX_SIZE)))); CALL_SUBTEST_2(skewSymmetricMultiplication(MatrixXf(3, internal::random<int>(3, EIGEN_TEST_MAX_SIZE))));
CALL_SUBTEST_2(skewSymmetricMultiplication(MatrixXd(3, internal::random<int>(1, EIGEN_TEST_MAX_SIZE)))); CALL_SUBTEST_2(skewSymmetricMultiplication(MatrixXd(3, internal::random<int>(3, EIGEN_TEST_MAX_SIZE))));
CALL_SUBTEST_2(traceAndDet<float>()); CALL_SUBTEST_2(traceAndDet<float>());
CALL_SUBTEST_2(traceAndDet<double>()); CALL_SUBTEST_2(traceAndDet<double>());
CALL_SUBTEST_2(transpose<float>()); CALL_SUBTEST_2(transpose<float>());