remove erroneous tests

Author: artivis

test/so3/gtest_so3.cpp

@@ -426,62 +426,6 @@ TEST(TEST_SO3, TEST_SO3_LIFT)
   EXPECT_DOUBLE_EQ(so3_inv_log.coeffs()(2), -so3_log.coeffs()(2));
 }
 
-TEST(TEST_SO3, TEST_SO3_COMPOSE)
-{
-    // compose two particular elements giving identity as result
-  SO3d so3a(toRad(-165),toRad(-135),toRad(-90));
-  SO3d so3b(toRad(15),toRad(45),toRad(90));
-
-  auto so3c = so3a.compose(so3b);
-
-  EXPECT_DOUBLE_EQ(0, so3c.x());
-  EXPECT_DOUBLE_EQ(0, so3c.y());
-  EXPECT_DOUBLE_EQ(0, so3c.z());
-  EXPECT_DOUBLE_EQ(1, so3c.w());
-}
-
-TEST(TEST_SO3, TEST_SO3_OP_COMPOSE)
-{
-    // compose two particular elements giving identity as result
-  SO3d so3a(toRad(-165),toRad(-135),toRad(-90));
-  SO3d so3b(toRad(15),toRad(45),toRad(90));
-
-  auto so3c = so3a * so3b;
-
-  EXPECT_DOUBLE_EQ(0, so3c.x());
-  EXPECT_DOUBLE_EQ(0, so3c.y());
-  EXPECT_DOUBLE_EQ(0, so3c.z());
-  EXPECT_DOUBLE_EQ(1, so3c.w());
-}
-
-TEST(TEST_SO3, TEST_SO3_OP_COMPOSE_EQ)
-{
-    // compose two particular elements giving identity as result
-  SO3d so3a(toRad(-165),toRad(-135),toRad(-90));
-  SO3d so3b(toRad(15),toRad(45),toRad(90));
-
-  so3a *= so3b;
-
-  EXPECT_DOUBLE_EQ(0, so3a.x());
-  EXPECT_DOUBLE_EQ(0, so3a.y());
-  EXPECT_DOUBLE_EQ(0, so3a.z());
-  EXPECT_DOUBLE_EQ(1, so3a.w());
-}
-
-TEST(TEST_SO3, TEST_SO3_BETWEEN)
-{
-    // between two equals is identity
-  SO3d so3b(toRad(15),toRad(45),toRad(90));
-  SO3d so3a(toRad(-15),toRad(-45),toRad(-90));
-
-  auto so3c = so3a.between(so3b);
-
-  EXPECT_DOUBLE_EQ(0, so3c.x());
-  EXPECT_DOUBLE_EQ(0, so3c.y());
-  EXPECT_DOUBLE_EQ(0, so3c.z());
-  EXPECT_DOUBLE_EQ(1, so3c.w());
-}
-
 /// with Jacs
 
 TEST(TEST_SO3, TEST_SO3_INVERSE_JAC)
@@ -554,80 +498,6 @@ TEST(TEST_SO3, TEST_SO3_LIFT_JAC)
 //  EXPECT_DOUBLE_EQ(1, J_log(0));
 }
 
-TEST(TEST_SO3, TEST_SO3_COMPOSE_JAC)
-{
-    // Composing these two elements a*b gives the identity;
-    // Jac_a is rotation 'b' transpose;
-    // Jac_b is identity
-  SO3d so3a(toRad(-165),toRad(-135),toRad(-90));
-  SO3d so3b(toRad(15),  toRad(45),  toRad(90));
-
-  SO3d::Jacobian J_c_a, J_c_b;
-
-  SO3d so3c = so3a.compose(so3b, J_c_a, J_c_b);
-
-  EXPECT_DOUBLE_EQ(0, so3c.x());
-  EXPECT_DOUBLE_EQ(0, so3c.y());
-  EXPECT_DOUBLE_EQ(0, so3c.z());
-  EXPECT_DOUBLE_EQ(1, so3c.w());
-
-  EXPECT_EQ(3, J_c_a.rows());
-  EXPECT_EQ(3, J_c_a.cols());
-  EXPECT_DOUBLE_EQ(so3b.rotation()(0,0), J_c_b(0,0));
-  EXPECT_DOUBLE_EQ(so3b.rotation()(1,0), J_c_b(0,1));
-  EXPECT_DOUBLE_EQ(so3b.rotation()(2,0), J_c_b(0,2));
-  EXPECT_DOUBLE_EQ(so3b.rotation()(0,1), J_c_b(1,0));
-  EXPECT_DOUBLE_EQ(so3b.rotation()(1,1), J_c_b(1,1));
-  EXPECT_DOUBLE_EQ(so3b.rotation()(2,1), J_c_b(1,2));
-  EXPECT_DOUBLE_EQ(so3b.rotation()(0,2), J_c_b(2,0));
-  EXPECT_DOUBLE_EQ(so3b.rotation()(1,2), J_c_b(2,1));
-  EXPECT_DOUBLE_EQ(so3b.rotation()(2,2), J_c_b(2,2));
-
-  EXPECT_EQ(3, J_c_b.rows());
-  EXPECT_EQ(3, J_c_b.cols());
-  EXPECT_DOUBLE_EQ(1, J_c_b(0,0));
-  EXPECT_DOUBLE_EQ(0, J_c_b(0,1));
-  EXPECT_DOUBLE_EQ(0, J_c_b(0,2));
-  EXPECT_DOUBLE_EQ(0, J_c_b(1,0));
-  EXPECT_DOUBLE_EQ(1, J_c_b(1,1));
-  EXPECT_DOUBLE_EQ(0, J_c_b(1,2));
-  EXPECT_DOUBLE_EQ(0, J_c_b(2,0));
-  EXPECT_DOUBLE_EQ(0, J_c_b(2,1));
-  EXPECT_DOUBLE_EQ(1, J_c_b(2,2));
-
-
-  // GENERAL JACOBIANS
-  //
-  // Assert is through linearized equation
-  // J = df/dR ==> f( R(+)w ) ~= f(R) (+) J*w, where (+) is right-plus
-
-  so3a.setRandom();
-  so3b.setRandom();
-  so3c = so3a.compose(so3b, J_c_a, J_c_b);
-
-  // Jac wrt first element
-
-  SO3d::Tangent w = SO3d::Tangent::Random(); w.coeffs() *= 1e-4;
-
-  SO3d so3c_pert = (so3a + w) * so3b;
-  SO3d so3c_lin  = so3c + J_c_a * w;
-
-  EXPECT_NEAR(so3c_pert.w(), so3c_lin.w(), 1e-8);
-  EXPECT_NEAR(so3c_pert.x(), so3c_lin.x(), 1e-8);
-  EXPECT_NEAR(so3c_pert.y(), so3c_lin.y(), 1e-8);
-  EXPECT_NEAR(so3c_pert.z(), so3c_lin.z(), 1e-8);
-
-  // Jac wrt second element
-
-  so3c_pert = so3a * (so3b + w);
-  so3c_lin  = so3c + J_c_b * w;
-
-  EXPECT_NEAR(so3c_pert.w(), so3c_lin.w(), 1e-8);
-  EXPECT_NEAR(so3c_pert.x(), so3c_lin.x(), 1e-8);
-  EXPECT_NEAR(so3c_pert.y(), so3c_lin.y(), 1e-8);
-  EXPECT_NEAR(so3c_pert.z(), so3c_lin.z(), 1e-8);
-}
-
 TEST(TEST_SO3, TEST_SO3_RIGHT_LEFT_JAC_ADJ)
 {
   SO3Tangentd tan = SO3Tangentd::Zero();
@@ -648,192 +518,6 @@ TEST(TEST_SO3, TEST_SO3_RIGHT_LEFT_JAC)
   EXPECT_EIGEN_NEAR(tan.rjac(), tan.ljac().transpose());
 }
 
-/*
-TEST(TEST_SO3, TEST_SO3_RPLUS_JAC)
-{
-  SO3d so3a;
-  SO3Tangentd so3b;
-
-  SO3d so3c;
-  SO3d::Jacobian J_rplus_m;
-  SO3d::Jacobian J_rplus_t;
-
-  so3a.rplus(so3b, so3c, J_rplus_m, J_rplus_t);
-
-  EXPECT_DOUBLE_EQ(MANIF_PI, so3c.angle());
-
-  EXPECT_EQ(1, J_rplus_m.rows());
-  EXPECT_EQ(1, J_rplus_m.cols());
-  EXPECT_DOUBLE_EQ(1, J_rplus_m(0));
-
-  EXPECT_EQ(1, J_rplus_t.rows());
-  EXPECT_EQ(1, J_rplus_t.cols());
-  EXPECT_DOUBLE_EQ(1, J_rplus_t(0));
-}
-
-TEST(TEST_SO3, TEST_SO3_LPLUS_JAC)
-{
-  SO3d so3a;
-  SO3Tangentd so3b;
-
-  SO3d so3c;
-  SO3d::Jacobian J_lplus_t;
-  SO3d::Jacobian J_lplus_m;
-
-  so3a.lplus(so3b, so3c, J_lplus_t, J_lplus_m);
-
-  EXPECT_DOUBLE_EQ(MANIF_PI, so3c.angle());
-
-  EXPECT_EQ(1, J_lplus_t.rows());
-  EXPECT_EQ(1, J_lplus_t.cols());
-  EXPECT_DOUBLE_EQ(1, J_lplus_t(0));
-
-  EXPECT_EQ(1, J_lplus_m.rows());
-  EXPECT_EQ(1, J_lplus_m.cols());
-  EXPECT_DOUBLE_EQ(1, J_lplus_m(0));
-}
-
-TEST(TEST_SO3, TEST_SO3_PLUS_JAC)
-{
-  SO3d so3a;
-  SO3Tangentd so3b;
-
-  SO3d so3c;
-  SO3d::Jacobian J_plus_m;
-  SO3d::Jacobian J_plus_t;
-
-  so3a.plus(so3b, so3c, J_plus_m, J_plus_t);
-
-  EXPECT_DOUBLE_EQ(MANIF_PI, so3c.angle());
-
-  EXPECT_EQ(1, J_plus_m.rows());
-  EXPECT_EQ(1, J_plus_m.cols());
-  EXPECT_DOUBLE_EQ(1, J_plus_m(0));
-
-  EXPECT_EQ(1, J_plus_t.rows());
-  EXPECT_EQ(1, J_plus_t.cols());
-  EXPECT_DOUBLE_EQ(1, J_plus_t(0));
-}
-
-TEST(TEST_SO3, TEST_SO3_RMINUS_JAC)
-{
-  SO3d so3a(MANIF_PI);
-  SO3d so3b(MANIF_PI_2);
-
-  SO3Tangentd so3c;
-
-  SO3d::Jacobian J_rminus_a, J_rminus_b;
-
-  so3a.rminus(so3b, so3c, J_rminus_a, J_rminus_b);
-
-  EXPECT_DOUBLE_EQ(MANIF_PI_2, so3c.angle());
-
-  EXPECT_EQ(1, J_rminus_a.rows());
-  EXPECT_EQ(1, J_rminus_a.cols());
-  EXPECT_DOUBLE_EQ(1, J_rminus_a(0));
-
-  EXPECT_EQ(1, J_rminus_b.rows());
-  EXPECT_EQ(1, J_rminus_b.cols());
-  EXPECT_DOUBLE_EQ(-1, J_rminus_b(0));
-}
-
-TEST(TEST_SO3, TEST_SO3_LMINUS_JAC)
-{
-  SO3d so3a(MANIF_PI);
-  SO3d so3b(MANIF_PI_2);
-
-  SO3Tangentd so3c;
-
-  SO3d::Jacobian J_lminus_a, J_lminus_b;
-
-  so3a.lminus(so3b, so3c, J_lminus_a, J_lminus_b);
-
-  EXPECT_DOUBLE_EQ(-MANIF_PI_2, so3c.angle());
-
-  EXPECT_EQ(1, J_lminus_a.rows());
-  EXPECT_EQ(1, J_lminus_a.cols());
-  EXPECT_DOUBLE_EQ(-1, J_lminus_a(0));
-
-  EXPECT_EQ(1, J_lminus_b.rows());
-  EXPECT_EQ(1, J_lminus_b.cols());
-  EXPECT_DOUBLE_EQ(1, J_lminus_b(0));
-}
-
-TEST(TEST_SO3, TEST_SO3_MINUS_JAC)
-{
-  SO3d so3a(MANIF_PI);
-  SO3d so3b(MANIF_PI_2);
-
-  SO3Tangentd so3c;
-
-  SO3d::Jacobian J_minus_a, J_minus_b;
-
-  so3a.minus(so3b, so3c, J_minus_a, J_minus_b);
-
-  EXPECT_DOUBLE_EQ(MANIF_PI_2, so3c.angle());
-
-  EXPECT_EQ(1, J_minus_a.rows());
-  EXPECT_EQ(1, J_minus_a.cols());
-  EXPECT_DOUBLE_EQ(1, J_minus_a(0));
-
-  EXPECT_EQ(1, J_minus_b.rows());
-  EXPECT_EQ(1, J_minus_b.cols());
-  EXPECT_DOUBLE_EQ(-1, J_minus_b(0));
-}
-
-*/
-
-TEST(TEST_SO3, TEST_SO3_BETWEEN_JAC)
-{
-  SO3d so3b(toRad(15),toRad(45),toRad(90));
-  SO3d so3a(toRad(-15),toRad(-45),toRad(-90));
-
-  SO3d::Jacobian J_between_a, J_between_b;
-
-  SO3d so3c = so3a.between(so3b, J_between_a, J_between_b);
-
-  EXPECT_DOUBLE_EQ(0, so3c.x());
-  EXPECT_DOUBLE_EQ(0, so3c.y());
-  EXPECT_DOUBLE_EQ(0, so3c.z());
-  EXPECT_DOUBLE_EQ(1, so3c.w());
-
-  EXPECT_EQ(3, J_between_a.rows());
-  EXPECT_EQ(3, J_between_a.cols());
-
-  EXPECT_EQ(3, J_between_b.rows());
-  EXPECT_EQ(3, J_between_b.cols());
-
-  so3a.setRandom();
-  so3b.setRandom();
-  so3c = so3a.between(so3b, J_between_a, J_between_b);
-
-  // Jac wrt first element
-
-  SO3d::Tangent w = SO3d::Tangent::Random(); w.coeffs() *= 1e-4;
-
-  SO3d so3c_pert = (so3a + w).between(so3b);
-  SO3d so3c_lin = so3c + J_between_a * w;
-
-  EXPECT_NEAR(so3c_pert.w(), so3c_lin.w(), 1e-8);
-  EXPECT_NEAR(so3c_pert.x(), so3c_lin.x(), 1e-8);
-  EXPECT_NEAR(so3c_pert.y(), so3c_lin.y(), 1e-8);
-  EXPECT_NEAR(so3c_pert.z(), so3c_lin.z(), 1e-8);
-
-  EXPECT_MANIF_NEAR(so3c_pert, so3c_lin, 1e-8);
-
-  // Jac wrt second element
-
-  so3c_pert = so3a.between(so3b + w);
-  so3c_lin = so3c + J_between_b * w;
-
-  EXPECT_NEAR(so3c_pert.w(), so3c_lin.w(), 1e-8);
-  EXPECT_NEAR(so3c_pert.x(), so3c_lin.x(), 1e-8);
-  EXPECT_NEAR(so3c_pert.y(), so3c_lin.y(), 1e-8);
-  EXPECT_NEAR(so3c_pert.z(), so3c_lin.z(), 1e-8);
-
-  EXPECT_MANIF_NEAR(so3c_pert, so3c_lin, 1e-8);
-}
-
 TEST(TEST_SO3, TEST_SO3_TANGENT_SKEW)
 {
   SO3Tangentd so3_tan(SO3Tangentd::DataType(1, 2, 3));