From 1d1ced2feced4103114821c2effadbf63d46e880 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 25 Mar 2020 22:07:16 +0100
Subject: [PATCH] Improve tests
---
src/frame/frame_base.cpp | 2 +-
test/gtest_has_state_blocks.cpp | 17 +++++++++++++----
2 files changed, 14 insertions(+), 5 deletions(-)
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 37d710952..db17da699 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -321,7 +321,7 @@ void FrameBase::setProblem(ProblemPtr _problem)
NodeBase::setProblem(_problem);
if (this->isKey())
- registerNewStateBlocks(getProblem());
+ registerNewStateBlocks(_problem);
for (auto cap : capture_list_)
cap->setProblem(_problem);
diff --git a/test/gtest_has_state_blocks.cpp b/test/gtest_has_state_blocks.cpp
index 4118f0f4d..d8b46e9b7 100644
--- a/test/gtest_has_state_blocks.cpp
+++ b/test/gtest_has_state_blocks.cpp
@@ -50,7 +50,7 @@ class HasStateBlocksTest : public testing::Test
};
-TEST_F(HasStateBlocksTest, Notifications_setKey)
+TEST_F(HasStateBlocksTest, Notifications_setKey_add)
{
Notification n;
ASSERT_FALSE(problem->getStateBlockNotification(sbp0, n));
@@ -65,7 +65,7 @@ TEST_F(HasStateBlocksTest, Notifications_setKey)
ASSERT_EQ(n, ADD);
}
-TEST_F(HasStateBlocksTest, Notifications_addStateBlock)
+TEST_F(HasStateBlocksTest, Notifications_add_makeKF)
{
Notification n;
@@ -91,15 +91,24 @@ TEST_F(HasStateBlocksTest, Notifications_addStateBlock)
ASSERT_TRUE(problem->getStateBlockNotification(sbv0, n));
ASSERT_EQ(n, ADD);
+}
+
+TEST_F(HasStateBlocksTest, Notifications_makeKF_add)
+{
+ Notification n;
+
// first make KF, then add SB
F1->link(problem->getTrajectory());
+ F1->setKey();
F1->addStateBlock("P", sbp1);
- F1->setKey();
-
ASSERT_TRUE(problem->getStateBlockNotification(sbp1, n));
+ ASSERT_EQ(n, ADD);
+
+ // add another SB
+
ASSERT_FALSE(problem->getStateBlockNotification(sbv1, n));
F1->addStateBlock("V", sbv1);
--
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