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_jacobian()[source]¶

Return type:: None

test_storage_D_tangent()[source]¶

Return type:: None

test_tangent_D_storage()[source]¶

Return type:: None