test MKD stats

JuliaRobotics · Dec 11, 2022 · 25db7a6 · 25db7a6
1 parent 93fa19e
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diff --git a/test/runtests.jl b/test/runtests.jl
@@ -16,5 +16,6 @@ include("testPartialProductSE2.jl")
 include("basic_se3.jl")
 include("testSymmetry.jl")
 include("testUpdateMKD.jl")
+include("testMKDStats.jl")
 
 #
diff --git a/test/testMKDStats.jl b/test/testMKDStats.jl
@@ -0,0 +1,21 @@
+using Test
+using ApproxManifoldProducts
+using Manifolds
+
+@testset "Test basic MKD statistics" begin
+
+
+M = SpecialEuclidean(2)
+u0 = ArrayPartition(zeros(2),[1 0; 0 1.0])
+ϵ = identity_element(M, u0)
+
+pts = [exp(M, ϵ, hat(M, ϵ, [0.05*randn(2);0.75*randn()])) for i in 1:N]
+
+P = manikde!(M, pts)
+
+@test isapprox(M, mean(P), mean(M, pts))
+@test isapprox(var(P), var(M, pts))
+@test isapprox(std(P), std(M, pts))
+@test isapprox(cov(P), cov(M, pts))
+
+end