testSimilarity2.cpp

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/testLie.h>
#include <gtsam/geometry/Similarity2.h>

#include <functional>

using namespace std::placeholders;
using namespace gtsam;
using namespace std;

GTSAM_CONCEPT_TESTABLE_INST(Similarity2)

static const Point2 P(0.2, 0.7);
static const Rot2 R = Rot2::fromAngle(0.3);
static const double s = 4;

//******************************************************************************
TEST(Similarity2, Concepts) {
  GTSAM_CONCEPT_ASSERT(IsGroup<Similarity2>);
  GTSAM_CONCEPT_ASSERT(IsManifold<Similarity2>);
  GTSAM_CONCEPT_ASSERT(IsLieGroup<Similarity2>);
}

//******************************************************************************
TEST(Similarity2, Constructors) {
  Similarity2 sim2_Construct1;
  Similarity2 sim2_Construct2(s);
  Similarity2 sim2_Construct3(R, P, s);
  Similarity2 sim2_Construct4(R.matrix(), P, s);
}

//******************************************************************************
TEST(Similarity2, Getters) {
  Similarity2 sim2_default;
  EXPECT(assert_equal(Rot2(), sim2_default.rotation()));
  EXPECT(assert_equal(Point2(0, 0), sim2_default.translation()));
  EXPECT_DOUBLES_EQUAL(1.0, sim2_default.scale(), 1e-9);
}

//******************************************************************************
int main() {
  TestResult tr;
  return TestRegistry::runAllTests(tr);
}
//******************************************************************************