unit test now works

.gitignore

@@ -2,4 +2,5 @@
 /doc*
 *.pyc
 *.DS_Store
-/examples/Data/dubrovnik-3-7-pre-rewritten.txt
+/examples/Data/dubrovnik-3-7-pre-rewritten.txt
+/examples/Data/pose2example-rewritten.txt

examples/Data/dubrovnik-3-7-pre.txt-rewritten.txt

@@ -0,0 +1,80 @@
+3 7 19
+
+0 0 -385.989990234375 387.1199951171875
+1 0 -38.439998626708984 492.1199951171875
+2 0 -667.91998291015625 123.11000061035156
+0 1 383.8800048828125 -15.299989700317383
+1 1 559.75 -106.15000152587891
+0 2 591.54998779296875 136.44000244140625
+1 2 863.8599853515625 -23.469970703125
+2 2 494.72000122070312 112.51999664306641
+0 3 592.5 125.75
+1 3 861.08001708984375 -35.219970703125
+2 3 498.54000854492187 101.55999755859375
+0 4 348.72000122070312 558.3800048828125
+1 4 776.030029296875 483.52999877929687
+2 4 7.7800288200378418 326.35000610351562
+0 5 14.010009765625 96.420013427734375
+1 5 207.1300048828125 118.36000061035156
+0 6 202.75999450683594 340.989990234375
+1 6 543.18011474609375 294.80999755859375
+2 6 -58.419979095458984 110.83000183105469
+
+-0.016943983733654022
+ 0.011171804741024973
+0.0024643507786095142
+0.73030996322631825
+-0.2649081945419311
+-1.7127892971038821
+1430.031982421875
+-7.5572756941255648e-008
+3.2377570134516087e-014
+
+0.015049724839627745
+-0.18504564464092257
+-0.29278403520584112
+    -1.05904757976532
+-0.036017861217260333
+  -1.5720340013504028
+1432.137451171875
+-7.317191830225056e-008
+3.1759419042137055e-014
+
+-0.30793598294258112
+ 0.32077908515930176
+ 0.22253985702991483
+ 8.5034484863281268
+   6.74996042251587
+-3.6383814811706534
+1572.047119140625
+-1.5962623223231276e-008
+-1.6507904730136101e-014
+
+-12.055994987487793
+12.838775634765625
+-41.099369049072266
+
+6.4168906211853027
+0.38897031545639038
+-23.586282730102539
+
+13.051100730895996
+3.8387587070465088
+-29.777933120727539
+
+13.060946464538574
+3.5910520553588867
+-29.75908088684082
+
+14.265764236450195
+24.096216201782227
+-54.823970794677734
+
+-0.25292283296585083
+2.2166082859039307
+-21.712127685546875
+
+7.6465740203857422
+14.185332298278809
+-52.070301055908203
+

gtsam/slam/dataset.cpp

@@ -67,6 +67,21 @@ string findExampleDataFile(const string& name) {
       INSTALLED_DATASET_DIR " named\n" +
       name + ", " + name + ".graph, or " + name + ".txt");
 }
+
+string createRewrittenFileName(const string& name) {
+  // Search source tree and installed location
+  if(!exists(fs::path(name))) {
+	throw std::invalid_argument(
+      "gtsam::createRewrittenFileName could not find a matching file in\n"
+      + name);
+  }
+
+  fs::path p(name); 
+  fs::path newpath = fs::path(p.parent_path().string()) / fs::path(p.stem().string() + "-rewritten.txt" );
+
+  printf("New path = %s\n", newpath.string().c_str() );
+  return   newpath.string();
+}
 #endif
 
 /* ************************************************************************* */

gtsam/slam/dataset.h

@@ -35,7 +35,7 @@ namespace gtsam {
 /**
  * Find the full path to an example dataset distributed with gtsam.  The name
  * may be specified with or without a file extension - if no extension is
- * give, this function first looks for the .graph extension, then .txt.  We
+ * given, this function first looks for the .graph extension, then .txt.  We
  * first check the gtsam source tree for the file, followed by the installed
  * example dataset location.  Both the source tree and installed locations
  * are obtained from CMake during compilation.
@@ -44,6 +44,12 @@ namespace gtsam {
  * search process described above.
  */
 GTSAM_EXPORT std::string findExampleDataFile(const std::string& name);
+
+/**
+ * searches for the file using the findExample funtion, if not found ,
+ * creates one in the source tree and returns the full path
+ */
+GTSAM_EXPORT std::string createRewrittenFileName(const std::string& name);
 #endif
 
 /**

gtsam/slam/tests/testDataset.cpp

@@ -175,7 +175,7 @@ TEST( dataSet, writeG2o)
   Values expectedValues;
   readG2o(g2oFile, expectedGraph, expectedValues);
 
-  const string filenameToWrite = findExampleDataFile("pose2example-rewritten");
+  const string filenameToWrite = createRewrittenFileName(g2oFile);
   writeG2o(filenameToWrite, expectedGraph, expectedValues);
 
   NonlinearFactorGraph actualGraph;
@@ -249,7 +249,7 @@ TEST( dataSet, writeBAL_Dubrovnik)
   readBAL(filenameToRead, readData);
 
   // Write readData to file filenameToWrite
-  const string filenameToWrite = findExampleDataFile("dubrovnik-3-7-pre-rewritten");
+  const string filenameToWrite = createRewrittenFileName(filenameToRead);
   CHECK(writeBAL(filenameToWrite, readData));
 
   // Read what we wrote
@@ -311,7 +311,7 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
   }
 
   // Write values and readData to a file
-  const string filenameToWrite = findExampleDataFile("dubrovnik-3-7-pre-rewritten");
+  const string filenameToWrite = createRewrittenFileName(filenameToRead);
   writeBALfromValues(filenameToWrite, readData, value);
 
   // Read the file we wrote