Commit ff8a5596 authored by Justin Carpentier's avatar Justin Carpentier

test/se3: improve coverage

parent a1846360
......@@ -82,6 +82,13 @@ BOOST_AUTO_TEST_CASE ( test_SE3 )
SE3f::Matrix3 rot_float(amb.rotation().cast<float>());
SE3f amb_float = amb.cast<float>();
BOOST_CHECK(amb_float.isApprox(amb.cast<float>()));
// Test actInv
const SE3 M = SE3::Random();
const SE3 Minv = M.inverse();
BOOST_CHECK(M.actInv(Minv).isIdentity());
BOOST_CHECK(M.actInv(identity).isApprox(Minv));
}
BOOST_AUTO_TEST_CASE ( test_Motion )
......
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