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added unit test for get/set triangulation threshold

release/4.3a0
Luca 2016-07-24 14:00:31 -04:00
parent 03fac5cd02
commit 97712b39cc
1 changed files with 11 additions and 0 deletions
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11
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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@ -81,6 +81,17 @@ TEST( SmartProjectionPoseFactor, Constructor4) {
factor1.add(measurement1, x1); 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 ) { TEST( SmartProjectionPoseFactor, Equals ) {
using namespace vanillaPose; using namespace vanillaPose;