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

Test the newly-added function emplace_shared

release/4.3a0
Yao Chen 2016-08-10 22:06:53 -04:00
parent 0de62ab879
commit f39cbf736d
1 changed files with 44 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
gtsam/inference/tests/testFactorGraph.cpp Normal file
View File

@ -0,0 +1,44 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file testFactorGraph.cpp
* @author Yao Chen
*/
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
using namespace std;
using namespace gtsam;
TEST(FactorGraph, testEmplaceShared) {
Cal3_S2::shared_ptr K(new Cal3_S2(50.0, 50.0, 0.0, 50.0, 50.0));
noiseModel::Isotropic::shared_ptr measurementNoise = noiseModel::Isotropic::Sigma(2, 1.0);
Point2 measurement(10.0, 10.0);
NonlinearFactorGraph graph;
graph.push_back(GenericProjectionFactor<Pose3, Point3, Cal3_S2>(measurement, measurementNoise, Symbol('x', 0), Symbol('l', 0), K));
graph.emplace_shared<GenericProjectionFactor<Pose3, Point3, Cal3_S2> >(measurement, measurementNoise, Symbol('x', 0), Symbol('l', 0), K);
EXPECT_LONGS_EQUAL(2, graph.size());
EXPECT(graph[0]->equals(*(graph[1])));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */