From 3a5aeeeb0deb56af20d952dc7d7f3215f821adfd Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Mon, 15 Mar 2010 16:34:40 +0000 Subject: [PATCH] added test for insert function in TupleConfig that takes other configs --- cpp/testTupleConfig.cpp | 32 ++++++++++++++++++++++++++++++++ 1 file changed, 32 insertions(+) diff --git a/cpp/testTupleConfig.cpp b/cpp/testTupleConfig.cpp index f1c4815e0..063164ab5 100644 --- a/cpp/testTupleConfig.cpp +++ b/cpp/testTupleConfig.cpp @@ -424,6 +424,38 @@ TEST( TupleConfig, pairconfig_style ) CHECK(assert_equal(config3, config.third())); } +/* ************************************************************************* */ +TEST(TupleConfig, insert_config_typedef) { + + TupleConfig4 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 )