From d42391d28d7b67787017c395a765fe800286fe28 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Thu, 15 Jan 2015 16:20:22 +0100
Subject: [PATCH] Added test of Cal3Unified and cleaned up a bit

---
 matlab/gtsam_tests/testCal3Unified.m |  7 +++++++
 matlab/gtsam_tests/test_gtsam.m      | 21 +++++++++++++++------
 2 files changed, 22 insertions(+), 6 deletions(-)
 create mode 100644 matlab/gtsam_tests/testCal3Unified.m

diff --git a/matlab/gtsam_tests/testCal3Unified.m b/matlab/gtsam_tests/testCal3Unified.m
new file mode 100644
index 000000000..498c65343
--- /dev/null
+++ b/matlab/gtsam_tests/testCal3Unified.m
@@ -0,0 +1,7 @@
+% test Cal3Unified
+import gtsam.*;
+
+K = Cal3Unified;
+EXPECT('fx',K.fx()==1);
+EXPECT('fy',K.fy()==1);
+
diff --git a/matlab/gtsam_tests/test_gtsam.m b/matlab/gtsam_tests/test_gtsam.m
index 1a6856a9a..4cbe42364 100644
--- a/matlab/gtsam_tests/test_gtsam.m
+++ b/matlab/gtsam_tests/test_gtsam.m
@@ -1,17 +1,25 @@
 % Test runner script - runs each test 
 
-% display 'Starting: testPriorFactor'
-% testPriorFactor
+%% geometry
+display 'Starting: testCal3Unified'
+testCal3Unified
 
-display 'Starting: testValues'
-testValues
+%% linear
+display 'Starting: testKalmanFilter'
+testKalmanFilter
 
 display 'Starting: testJacobianFactor'
 testJacobianFactor
 
-display 'Starting: testKalmanFilter'
-testKalmanFilter
+%% nonlinear
+display 'Starting: testValues'
+testValues
 
+%% SLAM
+display 'Starting: testPriorFactor'
+testPriorFactor
+
+%% examples
 display 'Starting: testLocalizationExample'
 testLocalizationExample
 
@@ -36,6 +44,7 @@ testStereoVOExample
 display 'Starting: testVisualISAMExample'
 testVisualISAMExample
 
+%% MATLAB specific
 display 'Starting: testUtilities'
 testUtilities