From 12dd2ecc47d2ee967b0bd16296dc33f36239cb50 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 30 Apr 2022 16:41:14 -0400
Subject: [PATCH] identity needs to be lowercase and fix tests

---
 gtsam/geometry/Similarity2.cpp           | 2 +-
 gtsam/geometry/Similarity2.h             | 2 +-
 gtsam/geometry/tests/testSimilarity2.cpp | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/Similarity2.cpp b/gtsam/geometry/Similarity2.cpp
index 4b8cfd581..4ed3351f8 100644
--- a/gtsam/geometry/Similarity2.cpp
+++ b/gtsam/geometry/Similarity2.cpp
@@ -134,7 +134,7 @@ void Similarity2::print(const std::string& s) const {
             << std::endl;
 }
 
-Similarity2 Similarity2::Identity() { return Similarity2(); }
+Similarity2 Similarity2::identity() { return Similarity2(); }
 
 Similarity2 Similarity2::operator*(const Similarity2& S) const {
   return Similarity2(R_ * S.R_, ((1.0 / S.s_) * t_) + R_ * S.t_, s_ * S.s_);
diff --git a/gtsam/geometry/Similarity2.h b/gtsam/geometry/Similarity2.h
index e72cda484..05f10d149 100644
--- a/gtsam/geometry/Similarity2.h
+++ b/gtsam/geometry/Similarity2.h
@@ -83,7 +83,7 @@ class GTSAM_EXPORT Similarity2 : public LieGroup<Similarity2, 4> {
   /// @{
 
   /// Return an identity transform
-  static Similarity2 Identity();
+  static Similarity2 identity();
 
   /// Composition
   Similarity2 operator*(const Similarity2& S) const;
diff --git a/gtsam/geometry/tests/testSimilarity2.cpp b/gtsam/geometry/tests/testSimilarity2.cpp
index f60e8f55e..dd4fd0efd 100644
--- a/gtsam/geometry/tests/testSimilarity2.cpp
+++ b/gtsam/geometry/tests/testSimilarity2.cpp
@@ -26,12 +26,12 @@
 using namespace std::placeholders;
 using namespace gtsam;
 using namespace std;
-using symbol_shorthand::X;
 
 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;
 
 const double degree = M_PI / 180;