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thirdparty/Sophus/sophus/test_so2.cpp

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+// This file is part of Sophus.
+//
+// Copyright 2012-2013 Hauke Strasdat
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to
+// deal in the Software without restriction, including without limitation the
+// rights  to use, copy, modify, merge, publish, distribute, sublicense, and/or
+// sell copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+// IN THE SOFTWARE.
+
+
+#include <iostream>
+#include <vector>
+
+#include "so2.hpp"
+#include "tests.hpp"
+
+using namespace Sophus;
+using namespace std;
+
+template<class Scalar>
+void tests() {
+
+  typedef SO2Group<Scalar> SO2Type;
+  typedef typename SO2Group<Scalar>::Point Point;
+  typedef typename SO2Group<Scalar>::Tangent Tangent;
+
+  vector<SO2Type> so2_vec;
+  so2_vec.push_back(SO2Type::exp(0.0));
+  so2_vec.push_back(SO2Type::exp(0.2));
+  so2_vec.push_back(SO2Type::exp(10.));
+  so2_vec.push_back(SO2Type::exp(0.00001));
+  so2_vec.push_back(SO2Type::exp(M_PI));
+  so2_vec.push_back(SO2Type::exp(0.2)
+                    *SO2Type::exp(M_PI)
+                    *SO2Type::exp(-0.2));
+  so2_vec.push_back(SO2Type::exp(-0.3)
+                    *SO2Type::exp(M_PI)
+                    *SO2Type::exp(0.3));
+
+  vector<Tangent> tangent_vec;
+  tangent_vec.push_back(Tangent(0));
+  tangent_vec.push_back(Tangent(1));
+  tangent_vec.push_back(Tangent(M_PI_2));
+  tangent_vec.push_back(Tangent(-1));
+  tangent_vec.push_back(Tangent(20));
+  tangent_vec.push_back(Tangent(M_PI_2+0.0001));
+
+  vector<Point> point_vec;
+  point_vec.push_back(Point(1,2));
+
+  Tests<SO2Type> tests;
+  tests.setGroupElements(so2_vec);
+  tests.setTangentVectors(tangent_vec);
+  tests.setPoints(point_vec);
+
+  tests.runAllTests();
+
+  cerr << "Exception test: ";
+  try {
+    SO2Type so2(0., 0.);
+  } catch(SophusException & e) {
+    cerr << "passed." << endl << endl;
+    return;
+  }
+  cerr << "failed!" << endl << endl;
+  exit(-1);
+}
+
+int main() {
+  cerr << "Test SO2" << endl << endl;
+
+  cerr << "Double tests: " << endl;
+  tests<double>();
+
+  cerr << "Float tests: " << endl;
+  tests<float>();
+  return 0;
+}