12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add DerivedValue test for Cal3Unified

release/4.3a0
Jing Dong 2014-10-17 14:44:37 -04:00
parent cdc121cf7d
commit f258bfe044
1 changed files with 16 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam/geometry/tests/testCal3Unified.cpp
View File

@ -19,6 +19,9 @@
#include <gtsam/base/numericalDerivative.h> #include <gtsam/base/numericalDerivative.h>
#include <gtsam/geometry/Cal3Unified.h> #include <gtsam/geometry/Cal3Unified.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/inference/Key.h>
using namespace gtsam; using namespace gtsam;
GTSAM_CONCEPT_TESTABLE_INST(Cal3Unified) GTSAM_CONCEPT_TESTABLE_INST(Cal3Unified)
@ -97,6 +100,19 @@ TEST( Cal3Unified, retract)
CHECK(assert_equal(d,K.localCoordinates(actual),1e-9)); CHECK(assert_equal(d,K.localCoordinates(actual),1e-9));
} }
/* ************************************************************************* */
TEST( Cal3Unified, DerivedValue)
{
Values values;
Cal3Unified cal(1, 2, 3, 4, 5, 6, 7, 8, 9, 10);
Key key = 1;
values.insert(key, cal);
Cal3Unified calafter = values.at<Cal3Unified>(key);
CHECK(assert_equal(cal,calafter,1e-9));
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); } int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */ /* ************************************************************************* */