From 3d32b9c26041d47a2184939675987295339c4eca Mon Sep 17 00:00:00 2001
From: Christian Forster <ch.forster@gmail.com>
Date: Mon, 1 Dec 2014 21:17:11 -0500
Subject: [PATCH] added simple constructor tests for BetweenFactor

---
 gtsam/slam/tests/testBetweenFactor.cpp | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/gtsam/slam/tests/testBetweenFactor.cpp b/gtsam/slam/tests/testBetweenFactor.cpp
index d0dbe7908..5169d90bc 100644
--- a/gtsam/slam/tests/testBetweenFactor.cpp
+++ b/gtsam/slam/tests/testBetweenFactor.cpp
@@ -44,6 +44,29 @@ TEST(BetweenFactor, Rot3) {
   EXPECT(assert_equal(numericalH2,actualH2, 1E-5));
 }
 
+/* ************************************************************************* */
+
+// Constructor scalar
+TEST(BetweenFactor, ConstructorScalar) {
+  SharedNoiseModel model;
+  double measured_value = 0.0;
+  BetweenFactor<double> factor(1, 2, measured_value, model);
+}
+
+// Constructor vector3
+TEST(BetweenFactor, ConstructorVector3) {
+  SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
+  Vector3 measured_value(1, 2, 3);
+  BetweenFactor<Vector3> factor(1, 2, measured_value, model);
+}
+
+// Constructor dynamic sized vector
+TEST(BetweenFactor, ConstructorDynamicSizeVector) {
+  SharedNoiseModel model = noiseModel::Isotropic::Sigma(5, 1.0);
+  Vector measured_value(5); measured_value << 1, 2, 3, 4, 5;
+  BetweenFactor<Vector> factor(1, 2, measured_value, model);
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;