33 const G& t1,
const G& t2) {
41 EXPECT(assert_equal<G>(t1.inverse(),T::Inverse(t1, H1)));
44 EXPECT(assert_equal<G>(t2.inverse(),T::Inverse(t2, H1)));
48 EXPECT(assert_equal<G>(t1 * t2,T::Compose(t1, t2, H1, H2)));
61 const G& t1,
const G& t2) {
65 typedef typename T::TangentVector
V;
70 V w12 = T::Local(t1, t2);
71 EXPECT(assert_equal<G>(t2, T::Retract(t1,w12, H1, H2)));
82 #define CHECK_LIE_GROUP_DERIVATIVES(t1,t2) \
83 { gtsam::testLieGroupDerivatives(result_, name_, t1, t2); }
85 #define CHECK_CHART_DERIVATIVES(t1,t2) \
86 { gtsam::testChartDerivatives(result_, name_, t1, t2); }