From dace9e213c598f8748068e47eeae0c84fbab5ed3 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 13 Dec 2011 22:54:11 +0000
Subject: [PATCH] (in branch) Start of unit test for incremental gradient
 calculation

---
 tests/testGaussianISAM2.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp
index d56d2edbc..45262e24e 100644
--- a/tests/testGaussianISAM2.cpp
+++ b/tests/testGaussianISAM2.cpp
@@ -296,6 +296,10 @@ TEST_UNSAFE(ISAM2, slamlike_solution)
 
   // Compare solutions
   EXPECT(isam_check(fullgraph, fullinit, isam));
+
+  // Check gradient
+  VectorValues expectedGradient(*allocateVectorValues(isam));
+  gradient
 }
 
 /* ************************************************************************* */