From c8d66ec55942955252104e699f80894c31ce8afa Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Mon, 30 Jul 2018 15:07:18 +0200
Subject: [PATCH] added eigen output test
---
.../RobotAPI/libraries/core/test/MathUtilsTest.cpp | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/source/RobotAPI/libraries/core/test/MathUtilsTest.cpp b/source/RobotAPI/libraries/core/test/MathUtilsTest.cpp
index 73c932696..3f0b6585a 100644
--- a/source/RobotAPI/libraries/core/test/MathUtilsTest.cpp
+++ b/source/RobotAPI/libraries/core/test/MathUtilsTest.cpp
@@ -26,6 +26,7 @@
#include <ArmarXCore/core/test/IceTestHelper.h>
#include "../math/MathUtils.h"
#include "../math/ColorUtils.h"
+#include "../FramedPose.h"
using namespace armarx;
void check_close(float a, float b, float tolerance)
@@ -37,8 +38,21 @@ void check_close(float a, float b, float tolerance)
}
}
+BOOST_AUTO_TEST_CASE(eigenOutputTest)
+{
+ Eigen::Vector3f v;
+ v << 10, 1000, -10;
+ std::cout << "v:\n" << v << std::endl;
+
+ armarx::Vector3 v2(v);
+ std::cout << "v2:\n" << v2.output() << std::endl;
+ FramedPose p(Eigen::Matrix4f::Identity(), "", "");
+ p.position->x = 100;
+ ARMARX_INFO << "pose:\n" << p.output();
+}
+
BOOST_AUTO_TEST_CASE(fmodTest)
{
--
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