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added test for insert function in TupleConfig that takes other configs

release/4.3a0
Alex Cunningham 2010-03-15 16:34:40 +00:00
parent 503fe46306
commit 3a5aeeeb0d
1 changed files with 32 additions and 0 deletions
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32
cpp/testTupleConfig.cpp
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@ -424,6 +424,38 @@ TEST( TupleConfig, pairconfig_style )
CHECK(assert_equal(config3, config.third()));
}
/* ************************************************************************* */
TEST(TupleConfig, insert_config_typedef) {
TupleConfig4<PoseConfig, PointConfig, LamConfig, Point3Config> config1, config2, expected;
PoseKey x1(1), x2(2);
PointKey l1(1), l2(2);
LamKey L1(1), L2(2);
Pose2 pose1(1.0, 2.0, 0.3), pose2(3.0, 4.0, 5.0);
Point2 point1(2.0, 3.0), point2(5.0, 6.0);
Vector lam1 = Vector_(1, 2.3), lam2 = Vector_(1, 4.5);
config1.insert(x1, pose1);
config1.insert(l1, point1);
config1.insert(L1, lam1);
config2.insert(x2, pose2);
config2.insert(l2, point2);
config2.insert(L2, lam2);
config1.insert(config2);
expected.insert(x1, pose1);
expected.insert(l1, point1);
expected.insert(L1, lam1);
expected.insert(x2, pose2);
expected.insert(l2, point2);
expected.insert(L2, lam2);
CHECK(assert_equal(expected, config1));
}
/* ************************************************************************* */
#include "NonlinearFactorGraph-inl.h"
TEST( TupleConfig, graphs_and_factors )