Commit 880161f0 authored by Justin Carpentier's avatar Justin Carpentier

test/spatial: fix bugs

parent 0dcc4ebb
......@@ -87,7 +87,7 @@ BOOST_AUTO_TEST_CASE ( test_SE3 )
const SE3 M = SE3::Random();
const SE3 Minv = M.inverse();
BOOST_CHECK(M.actInv(Minv).isIdentity());
BOOST_CHECK(Minv.actInv(Minv).isIdentity());
BOOST_CHECK(M.actInv(identity).isApprox(Minv));
}
......@@ -118,8 +118,8 @@ BOOST_AUTO_TEST_CASE ( test_Motion )
Vector6 bvPbv2_vec = bv+bv2;
BOOST_CHECK(bvPbv2_vec.isApprox(bv_vec+bv2_vec));
Motion bplus = (Base)bv + (Base)bv2;
BOOST_CHECK((bv+bv2).isApprox(bplus, 1e-12));
Motion bplus = static_cast<Base &>(bv) + static_cast<Base &>(bv2);
BOOST_CHECK((bv+bv2).isApprox(bplus));
// Test == and !=
BOOST_CHECK(bv == bv);
......
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