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identity needs to be lowercase and fix tests

release/4.3a0
Varun Agrawal 2022-04-30 16:41:14 -04:00
parent a73d6e0f47
commit 12dd2ecc47
3 changed files with 3 additions and 3 deletions
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2
gtsam/geometry/Similarity2.cpp
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@ -134,7 +134,7 @@ void Similarity2::print(const std::string& s) const {
<< std::endl; << std::endl;
} }
Similarity2 Similarity2::Identity() { return Similarity2(); } Similarity2 Similarity2::identity() { return Similarity2(); }
Similarity2 Similarity2::operator*(const Similarity2& S) const { Similarity2 Similarity2::operator*(const Similarity2& S) const {
return Similarity2(R_ * S.R_, ((1.0 / S.s_) * t_) + R_ * S.t_, s_ * S.s_); return Similarity2(R_ * S.R_, ((1.0 / S.s_) * t_) + R_ * S.t_, s_ * S.s_);

2
gtsam/geometry/Similarity2.h
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@ -83,7 +83,7 @@ class GTSAM_EXPORT Similarity2 : public LieGroup<Similarity2, 4> {
/// @{ /// @{
/// Return an identity transform /// Return an identity transform
static Similarity2 Identity(); static Similarity2 identity();
/// Composition /// Composition
Similarity2 operator*(const Similarity2& S) const; Similarity2 operator*(const Similarity2& S) const;

2
gtsam/geometry/tests/testSimilarity2.cpp
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@ -26,12 +26,12 @@
using namespace std::placeholders; using namespace std::placeholders;
using namespace gtsam; using namespace gtsam;
using namespace std; using namespace std;
using symbol_shorthand::X;
GTSAM_CONCEPT_TESTABLE_INST(Similarity2) GTSAM_CONCEPT_TESTABLE_INST(Similarity2)
static const Point2 P(0.2, 0.7); static const Point2 P(0.2, 0.7);
static const Rot2 R = Rot2::fromAngle(0.3); static const Rot2 R = Rot2::fromAngle(0.3);
static const double s = 4;
const double degree = M_PI / 180; const double degree = M_PI / 180;