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add unit test for the constructor

release/4.3a0
Kai Ni 2010-02-26 05:04:03 +00:00
parent 5e97d07f5e
commit 7e8aa6e6b9
1 changed files with 13 additions and 0 deletions
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13
cpp/testGaussianFactor.cpp
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@ -48,6 +48,19 @@ TEST( GaussianFactor, linearFactor )
CHECK(assert_equal(expected,*lf));
}
TEST( GaussianFactor, constructor)
{
Vector b = Vector_(3, 1., 2., 3.);
SharedDiagonal noise = noiseModel::Diagonal::Sigmas(Vector_(3,1.,1.,1.));
Symbol x0('x',0), x1('x',1);
std::list<std::pair<Symbol, Matrix> > terms;
terms.push_back(make_pair(x0, eye(2)));
terms.push_back(make_pair(x1, 2.*eye(2)));
GaussianFactor actual(terms, b, noise);
GaussianFactor expected(x0, eye(2), x1, 2.*eye(2), b, noise);
CHECK(assert_equal(expected, actual));
}
/* ************************************************************************* */
TEST( GaussianFactor, operators )
{