template class sophus::LieGroupTests
#include <test_impl.h>
template <class TLieGroup>
class LieGroupTests {
public:
// typedefs
using LieGroup = TLieGroup ;
using Scalar = typename LieGroup::Scalar ;
using Transformation = typename LieGroup::Transformation ;
using Tangent = typename LieGroup::Tangent ;
using Point = typename LieGroup::Point ;
using HomogeneousPoint = typename LieGroup::HomogeneousPoint ;
using ConstPointMap = Eigen::Map<const Point> ;
using Line = typename LieGroup::Line ;
using Hyperplane = typename LieGroup::Hyperplane ;
using Adjoint = typename LieGroup::Adjoint ;
// fields
static constexpr int kPointDim = LieGroup::kPointDim;
static constexpr int kMatrixDim = LieGroup::kMatrixDim;
static constexpr int kDoF = LieGroup::kDoF;
static constexpr int kNumParameters = LieGroup::kNumParameters;
// construction
LieGroupTests(
std::vector<LieGroup, Eigen::aligned_allocator<LieGroup>> const& group_vec,
std::vector<Tangent, Eigen::aligned_allocator<Tangent>> const& tangent_vec,
std::vector<Point, Eigen::aligned_allocator<Point>> const& point_vec
);
// methods
bool adjointTest();
template <class TG = LieGroup>
std::enable_if_t<std::is_same<TG, So3<Scalar>>::value||std::is_same<TG, Se3<Scalar>>::value, bool> leftJacobianTest();
template <class TG = LieGroup>
std::enable_if_t<!(std::is_same<TG, So3<Scalar>>::value||std::is_same<TG, Se3<Scalar>>::value), bool> leftJacobianTest();
bool moreJacobiansTest();
bool contructorAndAssignmentTest();
bool derivativeTest();
template <class TG = LieGroup>
bool additionalDerivativeTest();
bool productTest();
bool expLogTest();
bool expMapTest();
bool groupActionTest();
bool lineActionTest();
bool planeActionTest();
bool lieBracketTest();
bool veeHatTest();
bool newDeleteSmokeTest();
bool interpolateAndMeanTest();
bool testRandomSmoke();
template <class TS = Scalar>
std::enable_if_t<std::is_same<TS, float>::value, bool> testSpline();
template <class TS = Scalar>
std::enable_if_t<!std::is_same<TS, float>::value, bool> testSpline();
template <class TS = Scalar>
std::enable_if_t<std::is_floating_point<TS>::value, bool> doAllTestsPass();
template <class TS = Scalar>
std::enable_if_t<!std::is_floating_point<TS>::value, bool> doAllTestsPass();
};