From 098e7045110d64db1da2424c847c23a62ba056ce Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 11 Nov 2020 22:46:39 -0500
Subject: [PATCH] Similarity3 test only for Rot3 Expmap

---
 gtsam_unstable/geometry/tests/testSimilarity3.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/gtsam_unstable/geometry/tests/testSimilarity3.cpp b/gtsam_unstable/geometry/tests/testSimilarity3.cpp
index b985eb374..937761f02 100644
--- a/gtsam_unstable/geometry/tests/testSimilarity3.cpp
+++ b/gtsam_unstable/geometry/tests/testSimilarity3.cpp
@@ -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
 }
 
 //******************************************************************************