Commit cb58a6a0 authored by Joseph Mirabel's avatar Joseph Mirabel

[Minor] Remove duplicated assert + update unittest/explog.cpp

parent 06b7f0ec
......@@ -453,7 +453,6 @@ namespace pinocchio
typedef SE3Tpl<Scalar,Options> SE3;
typedef typename SE3::Vector3 Vector3;
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix6Like,6,6);
Matrix6Like & value = PINOCCHIO_EIGEN_CONST_CAST(Matrix6Like,Jlog);
typename SE3::ConstAngularRef R = M.rotation();
......
......@@ -335,19 +335,24 @@ BOOST_AUTO_TEST_CASE(Jexplog6)
Motion v(Motion::Random());
SE3 M (exp6(v));
Eigen::Matrix<double, 6, 6, Eigen::RowMajor> Jexp, Jlog;
Jexp6 (v, Jexp);
Jlog6 (M, Jlog);
{
Eigen::Matrix<double, 6, 6, Eigen::RowMajor> Jexp, Jlog;
Jexp6 (v, Jexp);
Jlog6 (M, Jlog);
BOOST_CHECK((Jlog * Jexp).isIdentity());
BOOST_CHECK((Jlog * Jexp).isIdentity());
}
M.setRandom();
v = log6(M);
Jlog6 (M, Jlog);
Jexp6 (v, Jexp);
{
Eigen::Matrix<double, 6, 6> Jexp, Jlog;
Jlog6 (M, Jlog);
Jexp6 (v, Jexp);
BOOST_CHECK((Jexp * Jlog).isIdentity());
BOOST_CHECK((Jexp * Jlog).isIdentity());
}
}
BOOST_AUTO_TEST_CASE (test_basic)
......
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