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test: preserve Dev verification contracts through Refactor APIs

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KOKO\Mimi
2026-10-18 02:25:59 +09:00
parent 26009169bf
commit 74a2ce87ee
19 changed files with 6602 additions and 3 deletions
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tests/unit/elements/finite_rotation_test.cpp
+15
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@@ -196,6 +196,21 @@ TEST(FiniteRotation,
const Matrix left_jacobian = LeftJacobianSO3(phi);
EXPECT_TRUE(IsFinite(left_jacobian));
// Preserve the original complete inverse-action check through the solve API.
for (std::size_t column = 0; column < kRotationDimension; ++column) {
const Vector3 basis{column == 0 ? 1.0 : 0.0,
column == 1 ? 1.0 : 0.0,
column == 2 ? 1.0 : 0.0};
const auto solved = SpatialMomentSO3(phi, basis);
ASSERT_TRUE(solved.HasValue());
EXPECT_TRUE(std::isfinite(solved.Value().X()));
EXPECT_TRUE(std::isfinite(solved.Value().Y()));
EXPECT_TRUE(std::isfinite(solved.Value().Z()));
const auto identity_column = Multiply(Transpose(left_jacobian), solved.Value());
for (std::size_t row = 0; row < kRotationDimension; ++row)
EXPECT_NEAR(identity_column[row], row == column ? 1.0 : 0.0, 1.0e-11);
}
const Vector3 load{0.7, -0.2, 0.4};
const auto spatial = SpatialMomentSO3(phi, load);
ASSERT_TRUE(spatial.HasValue());