add test and NEWS.md

JuliaRobotics · Sep 26, 2022 · 700e20b · 700e20b
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diff --git a/NEWS.md b/NEWS.md
@@ -6,6 +6,8 @@ RoME.jl follows semver, with only a few case specific exceptions.  Please see re
 
 - Add `SnoopPrecompile` and Julia v1.8 min compat.
 - Remove `FactorMetadata` and `ConvPerThread` usage as per IIF v0.31.
+- Move code and files to subfolders `services`, `entities`, and `legacy`.
+- Added new features `homograph_to_coordinates` and `coordinates_to_homography`.
 
 ## v0.20
 

diff --git a/src/RoME.jl b/src/RoME.jl
@@ -27,7 +27,7 @@ using SnoopPrecompile
 
 # to avoid name conflicts
 import Manifolds
-using Manifolds: hat, ProductGroup, ProductManifold, SpecialEuclidean, ProductRepr, SpecialOrthogonal, TranslationGroup, identity_element, submanifold_component
+using Manifolds: hat, ProductGroup, ProductManifold, SpecialEuclidean, ProductRepr, SpecialOrthogonal, TranslationGroup, identity_element, submanifold_component, Identity, affine_matrix
 
 import Manifolds: project, project!
 

diff --git a/test/testPose3.jl b/test/testPose3.jl
@@ -1,5 +1,25 @@
 using RoME
+using Manifolds
 using Test
+
+##
+@testset "test SE(3) coordinates to homography and back" begin
+##
+
+M = getManifold(Pose3)
+
+@test M == Manifolds.SpecialEuclidean(3)
+
+C = randn(6)
+H = coordinates_to_homography(M, C)
+C_ = homography_to_coordinates(M, H)
+
+@test isapprox(C, C_)
+
+##
+end
+
+
 ##
 @testset "Test Basic Pose3 :parametric and :default" begin
 fg = initfg()