public void TestTransformComputation()
{
EuclideanTransform t;
ErrorElements errorElements;
ConstructTestCase(out t, out errorElements);
var minimizer = new PointToPlaneErrorMinimizer();
var solvedT = KnownCorrespondenceErrorMinimizer.IterativeSolveForTransform(errorElements, minimizer);
float dist = (t.translation - solvedT.translation).Length();
Assert.IsTrue(Precision.AlmostEqualInDecimalPlaces(0.0f, dist, 3));
float angle = VectorHelpers.AngularDistance(t.rotation, solvedT.rotation);
Assert.IsTrue(Precision.AlmostEqualInDecimalPlaces(0.0, Math.IEEERemainder(angle, Math.PI * 2), 3));
}