Commit 6796c8f5 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Tests] SO3Linear : correctly check the value of the angular velocity

parent b7634c93
......@@ -1658,6 +1658,11 @@ void so3LinearTest(bool& error) {
error = true;
std::cout << "second order derivative should be null" << std::endl;
}
point3_t angular_vel = so3Traj.derivate(0, 1);
if(angular_vel[1] != 0. || angular_vel[2] != 0){
error = true;
std::cout << "Angular velocity around y and z axis should be null" << std::endl;
}
// check if errors are correctly raised :
try {
so3Traj(-0.1);
......
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