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Added cmake targets, expanded on the Values filtering test

release/4.3a0
Alex Cunningham 2012-02-22 15:58:06 +00:00
parent b9dd42d7af
commit 565185da02
2 changed files with 1251 additions and 959 deletions
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2191
.cproject
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19
gtsam/nonlinear/tests/testValues.cpp
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@ -262,11 +262,16 @@ TEST(Values, update)
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Values, filter) { TEST(Values, filter) {
Pose2 pose0(1.0, 2.0, 0.3);
Pose3 pose1(Pose2(0.1, 0.2, 0.3));
Pose2 pose2(4.0, 5.0, 0.6);
Pose3 pose3(Pose2(0.3, 0.7, 0.9));
Values values; Values values;
values.insert(0, Pose2()); values.insert(0, pose0);
values.insert(1, Pose3()); values.insert(1, pose1);
values.insert(2, Pose2()); values.insert(2, pose2);
values.insert(3, Pose3()); values.insert(3, pose3);
// Filter by key // Filter by key
int i = 0; int i = 0;
@ -275,9 +280,11 @@ TEST(Values, filter) {
if(i == 0) { if(i == 0) {
LONGS_EQUAL(2, it->first); LONGS_EQUAL(2, it->first);
EXPECT(typeid(Pose2) == typeid(it->second)); EXPECT(typeid(Pose2) == typeid(it->second));
EXPECT(assert_equal(pose2, dynamic_cast<const Pose2&>(it->second)));
} else if(i == 1) { } else if(i == 1) {
LONGS_EQUAL(3, it->first); LONGS_EQUAL(3, it->first);
EXPECT(typeid(Pose3) == typeid(it->second)); EXPECT(typeid(Pose3) == typeid(it->second));
EXPECT(assert_equal(pose3, dynamic_cast<const Pose3&>(it->second)));
} else { } else {
EXPECT(false); EXPECT(false);
} }
@ -290,10 +297,10 @@ TEST(Values, filter) {
it != values.endFilterByType<Pose3>(); ++it, ++i) { it != values.endFilterByType<Pose3>(); ++it, ++i) {
if(i == 0) { if(i == 0) {
LONGS_EQUAL(1, it->first); LONGS_EQUAL(1, it->first);
EXPECT(assert_equal(Pose3(), it->second)); EXPECT(assert_equal(pose1, it->second));
} else if(i == 1) { } else if(i == 1) {
LONGS_EQUAL(3, it->first); LONGS_EQUAL(3, it->first);
EXPECT(assert_equal(Pose3(), it->second)); EXPECT(assert_equal(pose3, it->second));
} else { } else {
EXPECT(false); EXPECT(false);
} }