bit more Lie product test

JuliaRobotics · Jul 29, 2024 · 2c0c0a9 · 2c0c0a9
1 parent 2155af3
commit 2c0c0a9
Showing 1 changed file with 15 additions and 0 deletions.
diff --git a/test/testLieFundamentals.jl b/test/testLieFundamentals.jl
@@ -314,6 +314,21 @@ p̂ = calcProductGaussians(
   do_transport_correction = true
 )
 
+@test isapprox(
+  [0;0;0.0], 
+  mean(p̂.p);
+  atol=1e-10
+)
+
+@test isapprox(
+  μn,
+  vee(M, ε, log(M, ε, mean(p̂)));
+  atol=1e-1 # NOTE looser bound for even-mean-mean case vs naive-identity-mean case
+)
+
+cov(p̂)
+
+p
 
 ##
 end