From f633b95d17edf923be95a0b12452bd3d53103c99 Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Wed, 7 Mar 2012 03:19:33 +0000
Subject: [PATCH] test to verify that pose-pose bearing-range factors work

---
 gtsam/slam/tests/testPlanarSLAM.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/gtsam/slam/tests/testPlanarSLAM.cpp b/gtsam/slam/tests/testPlanarSLAM.cpp
index 3daf5f4ab..b32bf9a9c 100644
--- a/gtsam/slam/tests/testPlanarSLAM.cpp
+++ b/gtsam/slam/tests/testPlanarSLAM.cpp
@@ -126,6 +126,13 @@ TEST( planarSLAM, BearingRangeFactor_equals )
 	EXPECT(assert_inequal(factor1, factor2, 1e-5));
 }
 
+/* ************************************************************************* */
+TEST( planarSLAM, BearingRangeFactor_poses )
+{
+	typedef BearingRangeFactor<Pose2,Pose2> PoseBearingRange;
+	PoseBearingRange actual(PoseKey(2), PoseKey(3), Rot2::fromDegrees(60.0), 12.3, sigma2);
+}
+
 /* ************************************************************************* */
 TEST( planarSLAM, PoseConstraint_equals )
 {