TEST( Rot2, unrotate)
{
Matrix H1, H2;
Point2 w = R * P, actual = R.unrotate(w, H1, H2);
CHECK(assert_equal(actual,P));
Matrix numerical1 = numericalDerivative21(unrotate_, R, w);
CHECK(assert_equal(numerical1,H1));
Matrix numerical2 = numericalDerivative22(unrotate_, R, w);
CHECK(assert_equal(numerical2,H2));
}
// unrotate and derivatives
inline Point2 unrotate_(const Rot2& R, const Point2& p) {return R.unrotate(p);}