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)