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Add unit test revealing deserialization error

release/4.3a0
Jose Luis Blanco-Claraco 2020-07-28 12:03:54 +02:00 committed by Jose Luis Blanco Claraco
parent 6b630effd0
commit 7b18d33c00
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1 changed files with 21 additions and 0 deletions
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gtsam/sam/tests/testRangeFactor.cpp
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@ -145,6 +145,27 @@ TEST( RangeFactor, EqualsWithTransform ) {
body_P_sensor_3D); body_P_sensor_3D);
CHECK(assert_equal(factor3D_1, factor3D_2)); CHECK(assert_equal(factor3D_1, factor3D_2));
} }
/* ************************************************************************* */
TEST( RangeFactor, EqualsAfterDeserializing) {
// Check that the same results are obtained after deserializing:
Pose3 body_P_sensor_3D(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2),
Point3(0.25, -0.10, 1.0));
RangeFactorWithTransform3D factor3D_1(poseKey, pointKey, measurement, model,
body_P_sensor_3D), factor3D_2;
// check with Equal() trait:
gtsam::serializationTestHelpers::roundtripXML(factor3D_1, factor3D_2);
CHECK(assert_equal(factor3D_1, factor3D_2));
const Pose3 pose(Rot3::RzRyRx(0.2, -0.3, 1.75), Point3(1.0, 2.0, -3.0));
const Point3 point(-2.0, 11.0, 1.0);
const Values values = {{poseKey, genericValue(pose)}, {pointKey, genericValue(point)}};
const Vector error_1 = factor3D_1.unwhitenedError(values);
const Vector error_2 = factor3D_2.unwhitenedError(values);
CHECK(assert_equal(error_1, error_2));
}
/* ************************************************************************* */ /* ************************************************************************* */
TEST( RangeFactor, Error2D ) { TEST( RangeFactor, Error2D ) {