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Added tests with constant Expression

release/4.3a0
dellaert 2014-10-02 23:26:59 +02:00
parent e7e7b3806f
commit 166396d6f6
2 changed files with 16 additions and 2 deletions
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2
gtsam_unstable/nonlinear/tests/testBADFactor.cpp
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@ -77,7 +77,7 @@ TEST(BADFactor, test) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(BADFactor, compose) { TEST(BADFactor, compose1) {
// Create expression // Create expression
Rot3_ R1(1), R2(2); Rot3_ R1(1), R2(2);

16
gtsam_unstable/nonlinear/tests/testExpression.cpp
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@ -63,7 +63,7 @@ TEST(Expression, test) {
/* ************************************************************************* */ /* ************************************************************************* */
TEST(Expression, compose) { TEST(Expression, compose1) {
// Create expression // Create expression
Expression<Rot3> R1(1), R2(2); Expression<Rot3> R1(1), R2(2);
@ -90,6 +90,20 @@ TEST(Expression, compose2) {
EXPECT(expectedKeys == R3.keys()); EXPECT(expectedKeys == R3.keys());
} }
/* ************************************************************************* */
// Test compose with one arguments referring to a constant same rotation
TEST(Expression, compose3) {
// Create expression
Expression<Rot3> R1(Rot3::identity()), R2(3);
Expression<Rot3> R3 = R1 * R2;
// Check keys
std::set<Key> expectedKeys;
expectedKeys.insert(3);
EXPECT(expectedKeys == R3.keys());
}
/* ************************************************************************* */ /* ************************************************************************* */
int main() { int main() {
TestResult tr; TestResult tr;