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test to verify that pose-pose bearing-range factors work

release/4.3a0
Alex Cunningham 2012-03-07 03:19:33 +00:00
parent 4e3844bb25
commit f633b95d17
1 changed files with 7 additions and 0 deletions
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7
gtsam/slam/tests/testPlanarSLAM.cpp
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@ -126,6 +126,13 @@ TEST( planarSLAM, BearingRangeFactor_equals )
EXPECT(assert_inequal(factor1, factor2, 1e-5)); 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 ) TEST( planarSLAM, PoseConstraint_equals )
{ {