added to tangent base and evalIsApprox

artivis · Jan 26, 2025 · daf02ba · daf02ba
1 parent 2abfc17
commit daf02ba
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diff --git a/include/manif/impl/tangent_base.h b/include/manif/impl/tangent_base.h
@@ -946,6 +946,22 @@ bool operator ==(
   return t.isApprox(v);
 }
 
+template <typename _Derived, typename _DerivedOther>
+bool operator !=(
+    const TangentBase<_Derived>& ta,
+    const TangentBase<_DerivedOther>& tb)
+{
+  return !(ta == tb);
+}
+
+template <typename _Derived, typename _EigenDerived>
+bool operator !=(
+    const TangentBase<_Derived>& t,
+    const Eigen::MatrixBase<_EigenDerived>& v)
+{
+  return !(t == v);
+}
+
 // Utils
 
 template <typename _Stream, typename _Derived>

diff --git a/test/common_tester.h b/test/common_tester.h
@@ -522,26 +522,30 @@ class CommonTester
     EXPECT_TRUE(LieGroup::Identity().isApprox(LieGroup::Identity(), tol_));
 
     EXPECT_TRUE(LieGroup::Identity() == LieGroup::Identity());
+    EXPECT_FALSE(LieGroup::Identity() != LieGroup::Identity());
 
     EXPECT_TRUE(getState().isApprox(getState(), tol_));
     EXPECT_FALSE(getState().isApprox(LieGroup::Random(), tol_));
 
     // cppcheck-suppress duplicateExpression
     EXPECT_TRUE(getState() == getState());
     EXPECT_FALSE(getState() == LieGroup::Random());
+    EXPECT_TRUE(getState() != LieGroup::Random());
 
     // Tangent
 
     EXPECT_TRUE(Tangent::Zero().isApprox(Tangent::Zero(), tol_));
 
     EXPECT_TRUE(Tangent::Zero() == Tangent::Zero());
+    EXPECT_FALSE(Tangent::Zero() != Tangent::Zero());
 
     EXPECT_TRUE(getDelta().isApprox(getDelta(), tol_));
     EXPECT_FALSE(getDelta().isApprox(Tangent::Random(), tol_));
 
     // cppcheck-suppress duplicateExpression
     EXPECT_TRUE(getDelta() == getDelta());
     EXPECT_FALSE(getDelta() == Tangent::Random());
+    EXPECT_TRUE(getDelta() != Tangent::Random());
   }
 
   void evalUnaryMinus()