Similarity3 test only for Rot3 Expmap
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				|  | @ -361,8 +361,12 @@ TEST(Similarity3, AlignPose3) { | |||
| 
 | ||||
|   vector<Pose3Pair> correspondences{bTa1, bTa2}; | ||||
| 
 | ||||
|   // Cayley transform cannot accommodate 180 degree rotations,
 | ||||
|   // hence we only test for Expmap
 | ||||
| #ifdef GTSAM_ROT3_EXPMAP | ||||
|   Similarity3 actual_aSb = Similarity3::Align(correspondences); | ||||
|   EXPECT(assert_equal(expected_aSb, actual_aSb)); | ||||
| #endif | ||||
| } | ||||
| 
 | ||||
| //******************************************************************************
 | ||||
|  |  | |||
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