From 97712b39ccb89813f561a95138fe77dedac1f796 Mon Sep 17 00:00:00 2001
From: Luca <lcarlone@mit.edu>
Date: Sun, 24 Jul 2016 14:00:31 -0400
Subject: [PATCH] added unit test for get/set triangulation threshold

---
 gtsam/slam/tests/testSmartProjectionPoseFactor.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
index ace75f80f..f0a864fdd 100644
--- a/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
+++ b/gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
@@ -81,6 +81,17 @@ TEST( SmartProjectionPoseFactor, Constructor4) {
   factor1.add(measurement1, x1);
 }
 
+/* ************************************************************************* */
+TEST( SmartProjectionPoseFactor, params) {
+  using namespace vanillaPose;
+  SmartProjectionParams params;
+  double rt = params.getRetriangulationThreshold();
+  EXPECT_DOUBLES_EQUAL(1e-5, rt, 1e-7);
+  params.setRetriangulationThreshold(1e-3);
+  rt = params.getRetriangulationThreshold();
+  EXPECT_DOUBLES_EQUAL(1e-3, rt, 1e-7);
+}
+
 /* ************************************************************************* */
 TEST( SmartProjectionPoseFactor, Equals ) {
   using namespace vanillaPose;