32     PoseBias bias;  in TEST()  local
33     EXPECT_EQ(bias.getOutput(), Pose3f());  in TEST()
40     PoseBias bias;  in TEST()  local
41     bias.setInput(pose1);  in TEST()
42     EXPECT_EQ(pose1, bias.getOutput());  in TEST()
43     bias.recenter();  in TEST()
44     EXPECT_EQ(bias.getOutput(), Pose3f());  in TEST()
45     bias.setInput(pose2);  in TEST()
46     EXPECT_EQ(bias.getOutput(), pose1.inverse() * pose2);  in TEST()
47     bias.recenter();  in TEST()
48     EXPECT_EQ(bias.getOutput(), Pose3f());  in TEST()