Modify comments and move header file declaration.

gtsam_unstable/geometry/Similarity3.cpp

@@ -19,6 +19,7 @@
 
 #include <gtsam/geometry/Pose3.h>
 #include <gtsam/base/Manifold.h>
+#include <gtsam/slam/KarcherMeanFactor-inl.h>
 
 namespace gtsam {
 

gtsam_unstable/geometry/Similarity3.h

@@ -23,8 +23,6 @@
 #include <gtsam/base/Lie.h>
 #include <gtsam/base/Manifold.h>
 #include <gtsam_unstable/dllexport.h>
-#include <gtsam/slam/KarcherMeanFactor-inl.h>
-#include <gtsam/slam/KarcherMeanFactor.h>
 
 
 namespace gtsam {
@@ -113,7 +111,8 @@ public:
    * |Rs*R Rs*t+ts|   |Rs*R s(Rs*t+ts)|
    * | 0      1/s | = |  0       1    |
    * 
-   * This group action satisfies the compatibility condition.
+   * This group action satisfies the compatibility condition. 
+   * For more details, refer to: https://en.wikipedia.org/wiki/Group_action
    */
   GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const;
 

gtsam_unstable/geometry/tests/testSimilarity3.cpp

@@ -274,6 +274,8 @@ TEST(Similarity3, GroupActionPose3) {
   EXPECT(assert_equal(expected_Tb2, bSa.transformFrom(Ta2)));
 }
 
+// Test left group action compatibility.
+// cSa*Ta = cSb*bSa*Ta
 TEST(Similarity3, GroupActionPose3_Compatibility) {
   Similarity3 bSa(Rot3::Ry(180 * degree), Point3(2, 3, 5), 2.0);
   Similarity3 cSb(Rot3::Ry(90 * degree), Point3(-10, -4, 0), 3.0);