39 lines
891 B
C++
39 lines
891 B
C++
/**
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* @file testUrbanOdometry.cpp
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* @brief Unit tests for UrbanOdometry Class
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* @authors Frank Dellaert, Viorela Ila
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**/
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/*STL/C++*/
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#include <iostream>
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#include <boost/assign/std/list.hpp>
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using namespace boost::assign;
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#include <CppUnitLite/TestHarness.h>
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#include "UrbanOdometry.h"
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#include "Pose2Graph.h"
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using namespace std;
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using namespace gtsam;
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TEST( UrbanOdometry, constructor )
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{
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string key1 = "x1", key2 = "x2";
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Vector measured = zero(6);
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Matrix measurement_covariance = eye(6);
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UrbanOdometry factor(key1, key2, measured, measurement_covariance);
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list<string> expected;
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expected += "x1","x2";
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CHECK(factor.keys()==expected);
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}
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/* ************************************************************************* */
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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/* ************************************************************************* */
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