diff --git a/src/test/gtest_rotation.cpp b/src/test/gtest_rotation.cpp index 1b2490e2a0fa15a11bad9069a47ac4c8ae8bccdf..ca382f888f1f536cf685009c2648b746f02004f6 100644 --- a/src/test/gtest_rotation.cpp +++ b/src/test/gtest_rotation.cpp @@ -572,36 +572,6 @@ TEST(rotations, Jl_inv) ASSERT_MATRIX_APPROX(log_R(exp_R(dtheta) * R), log_R(R) + Jl_inv*dtheta, 1e-8); } -TEST(rotations, assert_sizes) -{ - typedef Matrix<Scalar, 3, 3> SS; - typedef Matrix<Scalar, 3, Dynamic> SD; - typedef Matrix<Scalar, Dynamic, Dynamic> DD; - - SS ss; - SD sd(3,3); - DD dd(3,3); - - MatrixSizeCheck<3,3>::check(ss); - MatrixSizeCheck<3,3>::check(sd); - MatrixSizeCheck<3,3>::check(dd); - - EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(SS, 3, 3); - // EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(DS, 3, 3); // static check fails - // EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(DD, 3, 3); // static check fails - - - VectorXs v(6); // A 6-vector of dynamic size - - MatrixSizeCheck<3,1>::check(v.head<3>()); - // MatrixSizeCheck<3,1>::check(v.head<2>()); // static check fails - MatrixSizeCheck<3,1>::check(v.head<3>() + v.tail(3)); // static and dynamic check pass - // MatrixSizeCheck<3,1>::check(v.head<3>() + v.tail(2)); // dynamic check should fail - - Quaternions q = v2q(v.head<3>()); - q = v2q(v.tail(3)); - -} int main(int argc, char **argv) {