3d102c92277d5b5517118f527aa7447a4f2ff42e,tests/test_se3.py,,test_perturb,#,32

Before Change

def test_perturb():
    T = SE3.exp(np.array([1, 2, 3, 4, 5, 6]))
    T_copy = SE3.from_matrix(T.as_matrix())
    xi = np.array([0.6, 0.5, 0.4, 0.3, 0.2, 0.1])
    T.perturb(xi)
    assert np.allclose(T.as_matrix(), (SE3.exp(xi) * T_copy).as_matrix())

After Change

def test_perturb():
    T = SE3.exp(np.array([1, 2, 3, 4, 5, 6]))
    T_copy = copy.deepcopy(T)
    xi = np.array([0.6, 0.5, 0.4, 0.3, 0.2, 0.1])
    T.perturb(xi)
    assert np.allclose(T.as_matrix(), (SE3.exp(xi) * T_copy).as_matrix())

Instances