add some more jacs equality tests

Signed-off-by: artivis <deray.jeremie@gmail.com>
artivis · Mar 19, 2024 · bbf1f16 · bbf1f16
1 parent 5cce04a
commit bbf1f16
Showing 1 changed file with 19 additions and 1 deletion.
diff --git a/test/common_tester.h b/test/common_tester.h
@@ -168,7 +168,12 @@
   TEST_P(manifold##JacobiansTester, TEST_##manifold##_PLUS_T_JACOBIANS)                                                   \
   { evalTanPlusTanJac(); }                                                                                                \
   TEST_P(manifold##JacobiansTester, TEST_##manifold##_MINUS_T_JACOBIANS)                                                  \
-  { evalTanMinusTanJac(); }
+  { evalTanMinusTanJac(); }                                                                                               \
+  TEST_P(manifold##JacobiansTester, TEST_##manifold##_JL_MJLINV_ADJ_JACOBIANS)                                            \
+  { evalJlmJlinvAjd(); }                                                                                                  \
+  TEST_P(manifold##JacobiansTester, TEST_##manifold##_JR_JR_COMP_JL_JACOBIANS)                                            \
+  { evalJrJrcompJl(); }
+
 
 
 #define MANIF_TEST_MAP(manifold)                                          \
@@ -1155,6 +1160,19 @@ class JacobianTester
     EXPECT_MANIF_NEAR(delta_pert, delta_lin, tol_);
   }
 
+  void evalJlmJlinvAjd() {
+    const Tangent& delta = getDelta();
+    const Tangent mdelta = -delta;
+
+    EXPECT_EIGEN_NEAR(delta.exp().adj(), delta.ljac()*mdelta.ljacinv());
+  }
+
+  void evalJrJrcompJl() {
+    const Tangent& delta = getDelta();
+
+    EXPECT_EIGEN_NEAR(delta.exp().inverse().adj() * delta.ljac(), (-delta).ljac());
+  }
+
   void setOmegaOrder(const double w_order) { w_order_ = w_order; }
   void setTolerance(const double tol) { tol_ = tol; }