def test_adjoint(self):
"""Test adjoint methods."""
T = Pose3()
xi = np.array([1, 2, 3, 4, 5, 6])
# test calling functions
T.AdjointMap()
T.Adjoint(xi)
T.AdjointTranspose(xi)
Pose3.adjointMap(xi)
Pose3.adjoint(xi, xi)
# test correctness of adjoint(x, y)
expected = np.dot(Pose3.adjointMap_(xi), xi)
actual = Pose3.adjoint_(xi, xi)
np.testing.assert_array_equal(actual, expected)
def test_adjoint(self):
"""Test adjoint method."""
xi = np.array([1, 2, 3, 4, 5, 6])
expected = np.dot(Pose3.adjointMap(xi), xi)
actual = Pose3.adjoint(xi, xi)
np.testing.assert_array_equal(actual, expected)
