From a73d6e0f47567b6f79cadb32fd402243f4214ce6 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sat, 30 Apr 2022 15:21:05 -0400
Subject: [PATCH] Sim3 cpp unit tests

---
 gtsam/geometry/tests/testSimilarity2.cpp | 66 ++++++++++++++++++++++++
 1 file changed, 66 insertions(+)
 create mode 100644 gtsam/geometry/tests/testSimilarity2.cpp

diff --git a/gtsam/geometry/tests/testSimilarity2.cpp b/gtsam/geometry/tests/testSimilarity2.cpp
new file mode 100644
index 000000000..f60e8f55e
--- /dev/null
+++ b/gtsam/geometry/tests/testSimilarity2.cpp
@@ -0,0 +1,66 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file   testSimilarity2.cpp
+ * @brief  Unit tests for Similarity2 class
+ * @author Varun Agrawal
+ */
+
+#include <CppUnitLite/TestHarness.h>
+#include <gtsam/base/Testable.h>
+#include <gtsam/base/numericalDerivative.h>
+#include <gtsam/base/testLie.h>
+#include <gtsam/geometry/Similarity2.h>
+
+#include <functional>
+
+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);
+
+const double degree = M_PI / 180;
+
+//******************************************************************************
+TEST(Similarity2, Concepts) {
+  BOOST_CONCEPT_ASSERT((IsGroup<Similarity2>));
+  BOOST_CONCEPT_ASSERT((IsManifold<Similarity2>));
+  BOOST_CONCEPT_ASSERT((IsLieGroup<Similarity2>));
+}
+
+//******************************************************************************
+TEST(Similarity2, Constructors) {
+  Similarity2 sim2_Construct1;
+  Similarity2 sim2_Construct2(s);
+  Similarity2 sim2_Construct3(R, P, s);
+  Similarity2 sim2_Construct4(R.matrix(), P, s);
+}
+
+//******************************************************************************
+TEST(Similarity2, Getters) {
+  Similarity2 sim2_default;
+  EXPECT(assert_equal(Rot2(), sim2_default.rotation()));
+  EXPECT(assert_equal(Point2(0, 0), sim2_default.translation()));
+  EXPECT_DOUBLES_EQUAL(1.0, sim2_default.scale(), 1e-9);
+}
+
+//******************************************************************************
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+//******************************************************************************