Add tensor diff tests

janbruedigam · Oct 16, 2020 · 891fa9a · 891fa9a
1 parent 1ac5ed1
commit 891fa9a
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Showing 3 changed files with 82 additions and 403 deletions.
diff --git a/src/joints/rotational.jl b/src/joints/rotational.jl
@@ -108,7 +108,7 @@ end
 end
 
 
-# vec(G) Jacobian (also NOT accounting for quaternion specialness)
+# vec(G) Jacobian (also NOT accounting for quaternion specialness in the second derivative: ∂(∂ʳg∂posx)∂y)
 
 @inline function ∂2g∂posaa(joint::Rotational{T}, xa::AbstractVector, qa::UnitQuaternion, xb::AbstractVector, qb::UnitQuaternion) where T
     XX = szeros(T, 9, 3)

diff --git a/test/diff/diff_test.jl b/test/diff/diff_test.jl
@@ -8,6 +8,6 @@ end
     include("joint_test.jl")
 end
 
-# @safetestset "Joint Diff Tensor Tests" begin
-#     include("tensor_test.jl")
-# end
+@safetestset "Joint Diff Tensor Tests" begin
+    include("tensor_test.jl")
+end