From b39c934772212b95338c98250375b8ebb1a0c0e2 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Fri, 3 Jun 2022 09:30:26 +0200
Subject: [PATCH] Add test emplace
---
test/gtest_factor_force_torque_inertial.cpp | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/test/gtest_factor_force_torque_inertial.cpp b/test/gtest_factor_force_torque_inertial.cpp
index 98a63fb..29ef132 100644
--- a/test/gtest_factor_force_torque_inertial.cpp
+++ b/test/gtest_factor_force_torque_inertial.cpp
@@ -106,6 +106,21 @@ TEST_F(Test_FactorForceTorqueInertialPreint, constructor)
FactorForceTorqueInertial f(feature, capture_origin, processor, false);
WOLF_INFO("f id: ", f.id());
+
+ ASSERT_EQ(f.getCaptureOther(), capture_origin);
+}
+
+TEST_F(Test_FactorForceTorqueInertialPreint, emplace)
+{
+ feature = FeatureMotion::emplace<FeatureMotion>(capture_last, "FeatureFTI", VectorXd(19),
+ MatrixXd::Identity(18, 18), VectorXd(6), MatrixXd(18, 6));
+ factor = FactorBase::emplace<FactorForceTorqueInertial>(feature, feature, capture_origin, processor, false);
+ // this ^^^ will create a warning "ADDING FACTOR id TO FEATURE id THAT IS NOT CONNECTED WITH PROBLEM."
+
+ problem->print(4, 1, 1, 1); // feature and factor not in the tree since they belong to last_ptr with no KF.
+
+ ASSERT_EQ(factor->getCaptureOther(), capture_origin);
+ ASSERT_EQ(factor->getCapture(), capture_last);
}
int main(int argc, char **argv)
--
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