6 #include "../contrib/gtest/gtest.h"
11 #include "boost/filesystem.hpp"
12 #include "boost/filesystem/path.hpp"
13 #include "boost/filesystem/operations.hpp"
44 PM::get().InspectorRegistrar.create(
46 {{
"baseFileName",
"./unitTest"}}
55 const BOOST_AUTO(validTrans,
validT2d.block(0,
dim-1,
dim-1, 1).norm());
56 const BOOST_AUTO(testTrans, testT.block(0,
dim-1,
dim-1, 1).norm());
58 const BOOST_AUTO(validAngle, acos(
validT2d(0,0)));
59 const BOOST_AUTO(testAngle, acos(testT(0,0)));
72 const BOOST_AUTO(validTrans,
validT3d.block(0,
dim-1,
dim-1, 1).norm());
73 const BOOST_AUTO(testTrans, testT.block(0,
dim-1,
dim-1, 1).norm());
75 const BOOST_AUTO(testRotation, Eigen::Quaternion<NumericType>(Eigen::Matrix<NumericType,3,3>(testT.topLeftCorner(3,3))));
76 const BOOST_AUTO(validRotation, Eigen::Quaternion<NumericType>(Eigen::Matrix<NumericType,3,3>(
validT3d.topLeftCorner(3,3))));
78 const BOOST_AUTO(angleDist, validRotation.angularDistance(testRotation));