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unit test for align

release/4.3a0
Frank Dellaert 2010-09-10 22:29:40 +00:00
parent 91ff99170c
commit 86edf0cc30
1 changed files with 25 additions and 2 deletions
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27
geometry/tests/testPose2.cpp
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@ -3,9 +3,15 @@
* @brief Unit tests for Pose2 class
*/
#include <math.h>
#include <gtsam/CppUnitLite/TestHarness.h>
#include <cmath>
#include <iostream>
#include <boost/foreach.hpp>
#include <boost/optional.hpp>
#include <boost/assign/std/vector.hpp> // for operator +=
using namespace boost::assign;
#include <gtsam/CppUnitLite/TestHarness.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/lieProxies.h>
#include <gtsam/geometry/Pose2.h>
@ -476,6 +482,23 @@ TEST( Pose2, range )
EXPECT(assert_equal(expectedH2,actualH2));
}
/* ************************************************************************* */
typedef pair<Point2,Point2> Point2Pair;
boost::optional<Pose2> align(const vector<Point2Pair> &) {
return boost::none;
}
TEST(Pose2, align) {
vector<Point2Pair> correspondences;
Point2Pair p1(make_pair(Point2(0,0), Point2(10,0)));
Point2Pair p2(make_pair(Point2(20,20), Point2(30,20)));
correspondences += p1, p2;
Pose2 expected(Rot2::fromAngle(0), Point2(0,0));
boost::optional<Pose2> actual = align(correspondences);
//EXPECT(assert_equal(expected, *actual));
}
/* ************************************************************************* */
int main() {
TestResult tr;