From d3102a1ae137102f94f366d7167fc7695f322f8e Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 28 Oct 2022 13:21:49 -0400
Subject: [PATCH] add matlab test for class property variables

---
 matlab/gtsam_tests/testProperties.m | 12 ++++++++++++
 matlab/gtsam_tests/test_gtsam.m     |  3 +++
 2 files changed, 15 insertions(+)
 create mode 100644 matlab/gtsam_tests/testProperties.m

diff --git a/matlab/gtsam_tests/testProperties.m b/matlab/gtsam_tests/testProperties.m
new file mode 100644
index 000000000..56f6ab8a6
--- /dev/null
+++ b/matlab/gtsam_tests/testProperties.m
@@ -0,0 +1,12 @@
+% test property reading and writing
+import gtsam.*;
+
+isamParams = ISAM2Params;
+
+isamParams.relinearizeSkip = 123;
+EXPECT('isamParams.relinearizeSkip',isamParams.relinearizeSkip==123);
+
+isamParams.enableRelinearization = false;
+EXPECT('isamParams.enableRelinearization_false',isamParams.enableRelinearization==false);
+isamParams.enableRelinearization = true;
+EXPECT('isamParams.enableRelinearization_true',isamParams.enableRelinearization==true);
diff --git a/matlab/gtsam_tests/test_gtsam.m b/matlab/gtsam_tests/test_gtsam.m
index e43fbcf76..bf4e9a954 100644
--- a/matlab/gtsam_tests/test_gtsam.m
+++ b/matlab/gtsam_tests/test_gtsam.m
@@ -44,6 +44,9 @@ testStereoVOExample
 display 'Starting: testVisualISAMExample'
 testVisualISAMExample
 
+display 'Starting: testProperties'
+testProperties
+
 %% MATLAB specific
 display 'Starting: testUtilities'
 testUtilities