Drake
eigen_geometry_compare.h
Go to the documentation of this file.
1 #pragma once
2 
3 #include <Eigen/Dense>
4 #include <gtest/gtest.h>
5 
6 namespace drake {
7 
8 /**
9  * Expects that a rotation matrix belongs to SO(3):
10  * R ∈ SO(3) =>
11  * Rᵀ R = I (orthonormal)
12  * det(R) = 1 (right-hand rule)
13  * @param R Rotation matrix.
14  * @param tolerance The tolerance for determining equivalence for
15  * the orthonormal and right-hand rule cases.
16  */
17 ::testing::AssertionResult ExpectRotMat(
18  const Eigen::Matrix3d& R, double tolerance);
19 
20 /**
21  * Compares two SE(3) Transforms.
22  * @param X_expected Expected SE(3) transform.
23  * @param X_actual Actual SE(3) transform.
24  * @param tolerance The tolerance for determining equivalence for the
25  * rotation matrix cases (using ExpectRotMat) and comparing both transforms
26  * as matrices.
27  */
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:89
::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