From 2abfc17ee4c4d9ca2a3fdec90cfb1bc6b32b019f Mon Sep 17 00:00:00 2001
From: Marshall Vielmetti <mvielmetti@outlook.com>
Date: Fri, 24 Jan 2025 13:33:21 -0600
Subject: [PATCH 1/2] neq and tests

---
 include/manif/impl/lie_group_base.h | 14 ++++++++++++++
 test/se2/gtest_se2.cpp              |  8 ++++++++
 test/se3/gtest_se3.cpp              | 11 +++++++++++
 test/so2/gtest_so2.cpp              |  8 ++++++++
 test/so3/gtest_so3.cpp              |  8 ++++++++
 5 files changed, 49 insertions(+)

diff --git a/include/manif/impl/lie_group_base.h b/include/manif/impl/lie_group_base.h
index 945669a2..95cd1091 100644
--- a/include/manif/impl/lie_group_base.h
+++ b/include/manif/impl/lie_group_base.h
@@ -278,6 +278,20 @@ struct LieGroupBase
   template <typename _DerivedOther>
   bool operator ==(const LieGroupBase<_DerivedOther>& m) const;
 
+  
+  /**
+   * @brief Inequality operator.
+   * @param[in] An element of the same Lie group.
+   * @return false if the Lie group element m is 'close' to this,
+   * true otherwise.
+   * @see operator==.
+   */
+  template <typename _DerivedOther>
+  bool operator!=(
+      const LieGroupBase<_DerivedOther> &m) const {
+    return !(*this == m);
+  }
+
   /**
    * @brief Right oplus operator.
    * @see rplus.
diff --git a/test/se2/gtest_se2.cpp b/test/se2/gtest_se2.cpp
index 0f3181e8..97e61204 100644
--- a/test/se2/gtest_se2.cpp
+++ b/test/se2/gtest_se2.cpp
@@ -550,6 +550,14 @@ TEST(TEST_SE2, TEST_SE2_NORMALIZE)
   );
 }
 
+TEST(TEST_SE2, TEST_SE2_NEQ)
+{
+  SE2d one(SE2d::DataType(0,0,1,0));
+  SE2d two(4, 2, 1, 0);
+
+  EXPECT_NE(one, two);
+}
+
 #endif
 
 MANIF_TEST(SE2d);
diff --git a/test/se3/gtest_se3.cpp b/test/se3/gtest_se3.cpp
index ebbbfde0..08f4a366 100644
--- a/test/se3/gtest_se3.cpp
+++ b/test/se3/gtest_se3.cpp
@@ -461,6 +461,17 @@ TEST(TEST_SE3, TEST_SE3_NORMALIZE)
   );
 }
 
+TEST(TEST_SE3, TEST_SE3_NEQ)
+{
+  SE3d one(SE3d::Translation(1,2,3),
+           Eigen::Quaterniond::Identity());
+
+  SE3d::DataType values; values << 0,0,0, 0,0,0,1;
+  SE3d two(values);
+
+  EXPECT_NE(one, two);
+}
+
 #endif
 
 MANIF_TEST(SE3d);
diff --git a/test/so2/gtest_so2.cpp b/test/so2/gtest_so2.cpp
index 4f7295ff..34878793 100644
--- a/test/so2/gtest_so2.cpp
+++ b/test/so2/gtest_so2.cpp
@@ -576,6 +576,14 @@ TEST(TEST_SO2, TEST_SO2_NORMALIZE)
   );
 }
 
+TEST(TEST_SO2, TEST_SO2_NEQ)
+{
+  SO2d one(0, 1);
+  SO2d two = SO2d::Identity();
+
+  EXPECT_NE(one, two);
+}
+
 #endif
 
 MANIF_TEST(SO2d);
diff --git a/test/so3/gtest_so3.cpp b/test/so3/gtest_so3.cpp
index 09606f39..cb7b3de8 100644
--- a/test/so3/gtest_so3.cpp
+++ b/test/so3/gtest_so3.cpp
@@ -617,6 +617,14 @@ TEST(TEST_SO3, TEST_SO3_NORMALIZE)
   );
 }
 
+TEST(TEST_SO3, TEST_SO3_NOTEQ)
+{
+  SO3d one(0,0,0,1);
+  SO3d two(1,0,0,0);
+
+  EXPECT_NE(one, two);
+}
+
 #endif
 
 MANIF_TEST(SO3d);

From daf02ba762c5469ba07165482f31d126a8442b08 Mon Sep 17 00:00:00 2001
From: Marshall Vielmetti <mvielmetti@outlook.com>
Date: Sun, 26 Jan 2025 16:28:44 -0600
Subject: [PATCH 2/2] added to tangent base and evalIsApprox

---
 include/manif/impl/tangent_base.h | 16 ++++++++++++++++
 test/common_tester.h              |  4 ++++
 2 files changed, 20 insertions(+)

diff --git a/include/manif/impl/tangent_base.h b/include/manif/impl/tangent_base.h
index 6d5178a4..56c37eb5 100644
--- a/include/manif/impl/tangent_base.h
+++ b/include/manif/impl/tangent_base.h
@@ -946,6 +946,22 @@ bool operator ==(
   return t.isApprox(v);
 }
 
+template <typename _Derived, typename _DerivedOther>
+bool operator !=(
+    const TangentBase<_Derived>& ta,
+    const TangentBase<_DerivedOther>& tb)
+{
+  return !(ta == tb);
+}
+
+template <typename _Derived, typename _EigenDerived>
+bool operator !=(
+    const TangentBase<_Derived>& t,
+    const Eigen::MatrixBase<_EigenDerived>& v)
+{
+  return !(t == v);
+}
+
 // Utils
 
 template <typename _Stream, typename _Derived>
diff --git a/test/common_tester.h b/test/common_tester.h
index bc7ce126..592e8594 100644
--- a/test/common_tester.h
+++ b/test/common_tester.h
@@ -522,6 +522,7 @@ class CommonTester
     EXPECT_TRUE(LieGroup::Identity().isApprox(LieGroup::Identity(), tol_));
 
     EXPECT_TRUE(LieGroup::Identity() == LieGroup::Identity());
+    EXPECT_FALSE(LieGroup::Identity() != LieGroup::Identity());
 
     EXPECT_TRUE(getState().isApprox(getState(), tol_));
     EXPECT_FALSE(getState().isApprox(LieGroup::Random(), tol_));
@@ -529,12 +530,14 @@ class CommonTester
     // cppcheck-suppress duplicateExpression
     EXPECT_TRUE(getState() == getState());
     EXPECT_FALSE(getState() == LieGroup::Random());
+    EXPECT_TRUE(getState() != LieGroup::Random());
 
     // Tangent
 
     EXPECT_TRUE(Tangent::Zero().isApprox(Tangent::Zero(), tol_));
 
     EXPECT_TRUE(Tangent::Zero() == Tangent::Zero());
+    EXPECT_FALSE(Tangent::Zero() != Tangent::Zero());
 
     EXPECT_TRUE(getDelta().isApprox(getDelta(), tol_));
     EXPECT_FALSE(getDelta().isApprox(Tangent::Random(), tol_));
@@ -542,6 +545,7 @@ class CommonTester
     // cppcheck-suppress duplicateExpression
     EXPECT_TRUE(getDelta() == getDelta());
     EXPECT_FALSE(getDelta() == Tangent::Random());
+    EXPECT_TRUE(getDelta() != Tangent::Random());
   }
 
   void evalUnaryMinus()