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backward compatibility unit tests for NoiseModelFactor4

release/4.3a0
Gerry Chen 2021-12-03 00:46:23 -05:00
parent 2aecaf3258
commit 8fe7e48258
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1 changed files with 23 additions and 1 deletions
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24
tests/testNonlinearFactor.cpp
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@ -255,7 +255,13 @@ TEST( NonlinearFactor, cloneWithNewNoiseModel )
/* ************************************************************************* */
class TestFactor4 : public NoiseModelFactor4<double, double, double, double> {
public:
static_assert(std::is_same<Base, NoiseModelFactor>::value, "Base type wrong");
static_assert(
std::is_same<This,
NoiseModelFactor4<double, double, double, double>>::value,
"This type wrong");
public:
typedef NoiseModelFactor4<double, double, double, double> Base;
TestFactor4() : Base(noiseModel::Diagonal::Sigmas((Vector(1) << 2.0).finished()), X(1), X(2), X(3), X(4)) {}
@ -299,6 +305,22 @@ TEST(NonlinearFactor, NoiseModelFactor4) {
EXPECT(assert_equal((Matrix)(Matrix(1, 1) << 1.5).finished(), jf.getA(jf.begin()+2)));
EXPECT(assert_equal((Matrix)(Matrix(1, 1) << 2.0).finished(), jf.getA(jf.begin()+3)));
EXPECT(assert_equal((Vector)(Vector(1) << -5.0).finished(), jf.getb()));
// Test all functions/types for backwards compatibility
static_assert(std::is_same<TestFactor4::X1, double>::value,
"X1 type incorrect");
static_assert(std::is_same<TestFactor4::X2, double>::value,
"X2 type incorrect");
static_assert(std::is_same<TestFactor4::X3, double>::value,
"X3 type incorrect");
static_assert(std::is_same<TestFactor4::X4, double>::value,
"X4 type incorrect");
EXPECT(assert_equal(tf.key1(), X(1)));
EXPECT(assert_equal(tf.key2(), X(2)));
EXPECT(assert_equal(tf.key3(), X(3)));
EXPECT(assert_equal(tf.key4(), X(4)));
std::vector<Matrix> H = {Matrix(), Matrix(), Matrix(), Matrix()};
EXPECT(assert_equal(Vector1(10.0), tf.unwhitenedError(tv, H)));
}
/* ************************************************************************* */