From 5fc8b445154886d77e3689350c9fde75abe33750 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Thu, 9 Jan 2025 11:15:55 +0100
Subject: [PATCH] spatial: Add SE3Expr unit test

---
 unittest/spatial.cpp | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp
index 65cb9b9279..3679c94090 100644
--- a/unittest/spatial.cpp
+++ b/unittest/spatial.cpp
@@ -116,6 +116,25 @@ BOOST_AUTO_TEST_CASE(test_SE3)
   }
 }
 
+BOOST_AUTO_TEST_CASE(test_SE3_expr)
+{
+  using namespace pinocchio;
+
+  SE3 amb = SE3::Random();
+  SE3 bmc = SE3::Random();
+
+  SE3 amc_expected;
+  SE3 amc_expr;
+  SE3 amc_expr_noalias;
+
+  amc_expected = amb * bmc;
+  amc_expr.expr() = amb.const_expr() * bmc.const_expr();
+  amc_expr_noalias.expr().noalias() = amb.const_expr() * bmc.const_expr();
+
+  BOOST_CHECK(amc_expected.toActionMatrix().isApprox(amc_expr.toActionMatrix()));
+  BOOST_CHECK(amc_expected.toActionMatrix().isApprox(amc_expr_noalias.toActionMatrix()));
+}
+
 BOOST_AUTO_TEST_CASE(test_Motion)
 {
   using namespace pinocchio;