(in branch) Start of unit test for incremental gradient calculation

2011-12-13 22:54:11 +00:00 · 2011-12-13 22:54:11 +00:00 · dace9e213c
parent 6e1136ba20
commit dace9e213c
1 changed files with 4 additions and 0 deletions
--- 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
 }

 /* ************************************************************************* */