Register creator "H" for homogeneous

src/state_block/state_block.cpp

@@ -66,6 +66,7 @@ WOLF_REGISTER_STATEBLOCK(StateBlock);
 WOLF_REGISTER_STATEBLOCK(StateQuaternion);
 WOLF_REGISTER_STATEBLOCK(StateAngle);
 WOLF_REGISTER_STATEBLOCK(StateHomogeneous3d);
+WOLF_REGISTER_STATEBLOCK_WITH_KEY(H, StateHomogeneous3d);
 
 StateBlockPtr create_orientation(const Eigen::VectorXd& _state, bool _fixed)
 {

test/gtest_factory_state_block.cpp

@@ -111,6 +111,15 @@ TEST(FactoryStateBlock, creator_Homogeneous3d)
     ASSERT_TRUE(sbh->hasLocalParametrization());
 }
 
+TEST(FactoryStateBlock, creator_H)
+{
+    auto sbh = FactoryStateBlock::get().create("H", Eigen::Vector4d(1,2,3,4), false);
+
+    ASSERT_EQ(sbh->getSize()     , 4);
+    ASSERT_EQ(sbh->getLocalSize(), 3);
+    ASSERT_TRUE(sbh->hasLocalParametrization());
+}
+
 TEST(FactoryStateBlock, creator_O_is_quaternion)
 {
     auto sbq = FactoryStateBlock::get().create("O", Eigen::Vector4d(1,2,3,4), false);