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