From a7370818fad722ea6768a135c4d8c18f8552fe35 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 19 Feb 2015 10:54:55 +0100
Subject: [PATCH] Added unit test for SmartFactorBase (which immediatly exposed
 dim bug!)

---
 .cproject                                |  8 +++
 gtsam/slam/tests/testSmartFactorBase.cpp | 72 ++++++++++++++++++++++++
 2 files changed, 80 insertions(+)
 create mode 100644 gtsam/slam/tests/testSmartFactorBase.cpp

diff --git a/.cproject b/.cproject
index f3f62e42d..0bef605c5 100644
--- a/.cproject
+++ b/.cproject
@@ -1546,6 +1546,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testSmartFactorBase.run" path="build/gtsam/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j4</buildArguments>
+				<buildTarget>testSmartFactorBase.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j3</buildArguments>
diff --git a/gtsam/slam/tests/testSmartFactorBase.cpp b/gtsam/slam/tests/testSmartFactorBase.cpp
new file mode 100644
index 000000000..618644981
--- /dev/null
+++ b/gtsam/slam/tests/testSmartFactorBase.cpp
@@ -0,0 +1,72 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ *  @file   testSmartFactorBase.cpp
+ *  @brief  Unit tests for testSmartFactorBase Class
+ *  @author Frank Dellaert
+ *  @date   Feb 2015
+ */
+
+#include "../SmartFactorBase.h"
+#include <gtsam/geometry/Pose3.h>
+#include <CppUnitLite/TestHarness.h>
+
+using namespace std;
+using namespace gtsam;
+
+/* ************************************************************************* */
+#include <gtsam/geometry/PinholeCamera.h>
+#include <gtsam/geometry/Cal3Bundler.h>
+class PinholeFactor: public SmartFactorBase<Pose3, Point2,
+    PinholeCamera<Cal3Bundler>, 9> {
+  virtual double error(const Values& values) const {
+    return 0.0;
+  }
+  virtual boost::shared_ptr<GaussianFactor> linearize(
+      const Values& values) const {
+    return boost::shared_ptr<GaussianFactor>(new JacobianFactor());
+  }
+};
+
+TEST(SmartFactorBase, Pinhole) {
+  PinholeFactor f;
+  f.add(Point2(),1,SharedNoiseModel());
+  f.add(Point2(),2,SharedNoiseModel());
+  EXPECT_LONGS_EQUAL(2*2,f.dim());
+}
+
+/* ************************************************************************* */
+#include <gtsam/geometry/StereoCamera.h>
+class StereoFactor: public SmartFactorBase<Pose3, StereoPoint2, StereoCamera, 9> {
+  virtual double error(const Values& values) const {
+    return 0.0;
+  }
+  virtual boost::shared_ptr<GaussianFactor> linearize(
+      const Values& values) const {
+    return boost::shared_ptr<GaussianFactor>(new JacobianFactor());
+  }
+};
+
+TEST(SmartFactorBase, Stereo) {
+  StereoFactor f;
+  f.add(StereoPoint2(),1,SharedNoiseModel());
+  f.add(StereoPoint2(),2,SharedNoiseModel());
+  EXPECT_LONGS_EQUAL(2*3,f.dim());
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */
+