From 07817cd749f8ea320b9368c94d8b7ab2e36de85f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 7 Aug 2019 10:57:46 +0200
Subject: [PATCH] gtest the params factory creator
---
test/gtest_processor_odom_icp.cpp | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/test/gtest_processor_odom_icp.cpp b/test/gtest_processor_odom_icp.cpp
index 137c7ec3d..e696f15bf 100644
--- a/test/gtest_processor_odom_icp.cpp
+++ b/test/gtest_processor_odom_icp.cpp
@@ -24,6 +24,21 @@ TEST(ProcessorParamsOdomICP, default_construct_and_print)
WOLF_INFO("params: ", params->print());
}
+TEST(ProcessorParamsOdomICP, factory_and_print)
+{
+ std::string laser_root = _WOLF_LASER_ROOT_DIR;
+
+ auto params = std::static_pointer_cast<ProcessorParamsOdomICP>(ProcessorParamsFactory::get().create("ODOM ICP", laser_root + "/test/yaml/processor_odom_icp.yaml"));
+
+ ASSERT_TRUE(params); // not nullptr
+
+ // check a couple of entries.
+ ASSERT_EQ (params->use_corr_tricks , 4 );
+ ASSERT_DOUBLE_EQ(params->outliers_maxPerc , 5.0 );
+
+ WOLF_INFO("params: ", params->print());
+}
+
TEST(ProcessorOdomIcp, Constructor)
{
auto params = std::make_shared<ProcessorParamsOdomICP>();
--
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