symforce.test_util.lie_group_ops_test_mixin module#

class LieGroupOpsTestMixin[source]#

Bases: GroupOpsTestMixin

Test helper for the LieGroupOps concept. Inherit a test case from this.

EPSILON = 1e-08#
MANIFOLD_IS_DEFINED_IN_TERMS_OF_GROUP_OPS = True#
test_lie_group_ops()[source]#

Tests:

  • tangent_dim

  • from_tangent

  • to_tangent

  • retract

  • local_coordinates

Return type:

None

test_manifold_ops_match_group_ops_definitions()[source]#

Tests:

  • retract(a, vec) = compose(a, from_tangent(vec))

  • local_coordinates(a, b) = to_tangent(between(a, b))

Return type:

None

test_storage_D_tangent()[source]#
Return type:

None

test_tangent_D_storage()[source]#
Return type:

None