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Drop use of POSIX M_PI_2 and M_PI_4

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Change-Id: I310fcf3c3c369d46b2c7b1be0831e48eb559fb9d
This commit is contained in:
Sergiu Deitsch
2023-10-05 00:26:46 +02:00
parent 4519b8d774
commit 5ccab18be9
1 changed files with 12 additions and 10 deletions
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internal/ceres/manifold_test.cc
+12 -10
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@@ -717,7 +717,7 @@ TEST(SphereManifold, Plus2DTest) {
SphereManifold<2> manifold;
{
double delta[1]{M_PI_4};
double delta[1]{constants::pi / 4};
Eigen::Vector2d y = Eigen::Vector2d::Zero();
EXPECT_TRUE(manifold.Plus(x.data(), delta, y.data()));
const Eigen::Vector2d gtY(std::sqrt(2.0) / 2.0, std::sqrt(2.0) / 2.0);
@@ -725,7 +725,7 @@ TEST(SphereManifold, Plus2DTest) {
}
{
double delta[1]{M_PI_2};
double delta[1]{constants::pi / 2};
Eigen::Vector2d y = Eigen::Vector2d::Zero();
EXPECT_TRUE(manifold.Plus(x.data(), delta, y.data()));
const Eigen::Vector2d gtY = Eigen::Vector2d::UnitX();
@@ -754,7 +754,7 @@ TEST(SphereManifold, Plus3DTest) {
SphereManifold<3> manifold;
{
Eigen::Vector2d delta{M_PI_2, 0.0};
Eigen::Vector2d delta{constants::pi / 2, 0.0};
Eigen::Vector3d y = Eigen::Vector3d::Zero();
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
const Eigen::Vector3d gtY = Eigen::Vector3d::UnitX();
@@ -778,7 +778,7 @@ TEST(SphereManifold, Plus3DTest) {
}
{
Eigen::Vector2d delta{0.0, M_PI_2};
Eigen::Vector2d delta{0.0, constants::pi / 2};
Eigen::Vector3d y = Eigen::Vector3d::Zero();
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
const Eigen::Vector3d gtY = Eigen::Vector3d::UnitY();
@@ -802,7 +802,8 @@ TEST(SphereManifold, Plus3DTest) {
}
{
Eigen::Vector2d delta = Eigen::Vector2d(1, 1).normalized() * M_PI_2;
Eigen::Vector2d delta =
Eigen::Vector2d(1, 1).normalized() * constants::pi / 2;
Eigen::Vector3d y = Eigen::Vector3d::Zero();
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
const Eigen::Vector3d gtY(std::sqrt(2.0) / 2.0, std::sqrt(2.0) / 2.0, 0.0);
@@ -825,7 +826,7 @@ TEST(SphereManifold, Minus2DTest) {
{
double delta[1];
const Eigen::Vector2d y(std::sqrt(2.0) / 2.0, std::sqrt(2.0) / 2.0);
const double gtDelta{M_PI_4};
const double gtDelta{constants::pi / 4};
EXPECT_TRUE(manifold.Minus(y.data(), x.data(), delta));
EXPECT_LT(std::abs(delta[0] - gtDelta), kTolerance);
}
@@ -846,7 +847,7 @@ TEST(SphereManifold, Minus3DTest) {
{
Eigen::Vector2d delta;
const Eigen::Vector3d y(std::sqrt(2.0) / 2.0, 0.0, std::sqrt(2.0) / 2.0);
const Eigen::Vector2d gtDelta(M_PI_4, 0.0);
const Eigen::Vector2d gtDelta(constants::pi / 4, 0.0);
EXPECT_TRUE(manifold.Minus(y.data(), x.data(), delta.data()));
EXPECT_LT((delta - gtDelta).norm(), kTolerance);
}
@@ -977,7 +978,7 @@ TEST(LineManifold, Plus) {
LineManifold<3> manifold;
{
Vector4d delta{0.0, 2.0, M_PI_2, 0.0};
Vector4d delta{0.0, 2.0, constants::pi / 2, 0.0};
Vector6d y = Vector6d::Random();
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
Vector6d gtY;
@@ -986,7 +987,7 @@ TEST(LineManifold, Plus) {
}
{
Vector4d delta{3.0, 0.0, 0.0, M_PI_2};
Vector4d delta{3.0, 0.0, 0.0, constants::pi / 2};
Vector6d y = Vector6d::Zero();
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
Vector6d gtY;
@@ -996,7 +997,8 @@ TEST(LineManifold, Plus) {
{
Vector4d delta;
delta << Vector2d(1.0, 2.0), Vector2d(1, 1).normalized() * M_PI_2;
delta << Vector2d(1.0, 2.0),
Vector2d(1, 1).normalized() * constants::pi / 2;
Vector6d y = Vector6d::Zero();
EXPECT_TRUE(manifold.Plus(x.data(), delta.data(), y.data()));
Vector6d gtY;