Drake
eigen_geometry_compare.h File Reference
#include <Eigen/Dense>
#include <gtest/gtest.h>
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Functions

::testing::AssertionResult ExpectRotMat (const Eigen::Matrix3d &R, double tolerance)
 Expects that a rotation matrix belongs to SO(3): R ∈ SO(3) => Rᵀ R = I (orthonormal) det(R) = 1 (right-hand rule) More...
 
::testing::AssertionResult CompareTransforms (const Eigen::Isometry3d &X_expected, const Eigen::Isometry3d &X_actual, double tolerance)
 Compares two SE(3) Transforms. More...