neq and tests

artivis · Jan 24, 2025 · 2abfc17 · 2abfc17
1 parent de52f8b
commit 2abfc17
Show file tree

Hide file tree

Showing 5 changed files with 49 additions and 0 deletions.
diff --git a/include/manif/impl/lie_group_base.h b/include/manif/impl/lie_group_base.h
@@ -278,6 +278,20 @@ struct LieGroupBase
   template <typename _DerivedOther>
   bool operator ==(const LieGroupBase<_DerivedOther>& m) const;
 
+
+  /**
+   * @brief Inequality operator.
+   * @param[in] An element of the same Lie group.
+   * @return false if the Lie group element m is 'close' to this,
+   * true otherwise.
+   * @see operator==.
+   */
+  template <typename _DerivedOther>
+  bool operator!=(
+      const LieGroupBase<_DerivedOther> &m) const {
+    return !(*this == m);
+  }
+
   /**
    * @brief Right oplus operator.
    * @see rplus.

diff --git a/test/se2/gtest_se2.cpp b/test/se2/gtest_se2.cpp
@@ -550,6 +550,14 @@ TEST(TEST_SE2, TEST_SE2_NORMALIZE)
   );
 }
 
+TEST(TEST_SE2, TEST_SE2_NEQ)
+{
+  SE2d one(SE2d::DataType(0,0,1,0));
+  SE2d two(4, 2, 1, 0);
+
+  EXPECT_NE(one, two);
+}
+
 #endif
 
 MANIF_TEST(SE2d);

diff --git a/test/se3/gtest_se3.cpp b/test/se3/gtest_se3.cpp
@@ -461,6 +461,17 @@ TEST(TEST_SE3, TEST_SE3_NORMALIZE)
   );
 }
 
+TEST(TEST_SE3, TEST_SE3_NEQ)
+{
+  SE3d one(SE3d::Translation(1,2,3),
+           Eigen::Quaterniond::Identity());
+
+  SE3d::DataType values; values << 0,0,0, 0,0,0,1;
+  SE3d two(values);
+
+  EXPECT_NE(one, two);
+}
+
 #endif
 
 MANIF_TEST(SE3d);

diff --git a/test/so2/gtest_so2.cpp b/test/so2/gtest_so2.cpp
@@ -576,6 +576,14 @@ TEST(TEST_SO2, TEST_SO2_NORMALIZE)
   );
 }
 
+TEST(TEST_SO2, TEST_SO2_NEQ)
+{
+  SO2d one(0, 1);
+  SO2d two = SO2d::Identity();
+
+  EXPECT_NE(one, two);
+}
+
 #endif
 
 MANIF_TEST(SO2d);

diff --git a/test/so3/gtest_so3.cpp b/test/so3/gtest_so3.cpp
@@ -617,6 +617,14 @@ TEST(TEST_SO3, TEST_SO3_NORMALIZE)
   );
 }
 
+TEST(TEST_SO3, TEST_SO3_NOTEQ)
+{
+  SO3d one(0,0,0,1);
+  SO3d two(1,0,0,0);
+
+  EXPECT_NE(one, two);
+}
+
 #endif
 
 MANIF_TEST(SO3d);