Drake
eigen_geometry_compare.h
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1 #pragma once
2 
3 #include <Eigen/Dense>
4 #include <gtest/gtest.h>
5 
6 namespace drake {
7 
17 ::testing::AssertionResult ExpectRotMat(
18  const Eigen::Matrix3d& R, double tolerance);
19 
28 ::testing::AssertionResult CompareTransforms(
29  const Eigen::Isometry3d &X_expected, const Eigen::Isometry3d &X_actual,
30  double tolerance);
31 
32 } // namespace drake
Definition: automotive_demo.cc:88
::testing::AssertionResult CompareTransforms(const Eigen::Isometry3d &X_expected, const Eigen::Isometry3d &X_actual, double tolerance)
Compares two SE(3) Transforms.
Definition: eigen_geometry_compare.cc:25
::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 (ri...
Definition: eigen_geometry_compare.cc:10