fix stuff, improve coverage

JuliaManifolds · Aug 15, 2024 · 0a70f9d · 0a70f9d
1 parent 1abde05
commit 0a70f9d
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diff --git a/test/groups/special_euclidean.jl b/test/groups/special_euclidean.jl
@@ -398,6 +398,14 @@ using Manifolds:
         @test isapprox(G, q, q_ref)
         Y = log_inv(G, p, q)
         @test isapprox(G, p, X, Y)
+
+        q2 = similar(q)
+        exp_inv!(G, q2, p, X)
+        @test isapprox(G, q, q2)
+
+        Y2 = similar(Y)
+        log_inv!(G, Y2, p, q)
+        @test isapprox(G, p, Y, Y2)
     end
 
     @testset "performance of selected operations" begin

diff --git a/tutorials/groups.qmd b/tutorials/groups.qmd
@@ -172,7 +172,7 @@ for i in 1:5
 end
 
 # drop back to a algebra, then coordinate
-ArrayPartition([1.0, 0.0, -1.0], xRi) = log(G, p0, aRi)
+aXi = log(G, p0, aRi)
 aθi = get_coordinates(G, p0, aXi, B)
 
 # should wrap around to 3rd quadrant of xy-plane