From 3d5e2504287df505f362fe5324d2c695457f5593 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Wed, 25 Mar 2020 10:54:10 +0100 Subject: [PATCH] Update gtest_has_state_blocks.cpp --- test/gtest_has_state_blocks.cpp | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/test/gtest_has_state_blocks.cpp b/test/gtest_has_state_blocks.cpp index 70a3a49ba..2d710f321 100644 --- a/test/gtest_has_state_blocks.cpp +++ b/test/gtest_has_state_blocks.cpp @@ -67,6 +67,9 @@ TEST_F(HasStateBlocksTest, Notifications_setKey) TEST_F(HasStateBlocksTest, Notifications_addStateBlock) { Notification n; + + // First add SB, than make KF + ASSERT_FALSE(problem->getStateBlockNotification(sbp0, n)); F0->link(problem->getTrajectory()); @@ -86,6 +89,23 @@ TEST_F(HasStateBlocksTest, Notifications_addStateBlock) ASSERT_TRUE(problem->getStateBlockNotification(sbv0, n)); ASSERT_EQ(n, ADD); + + // first make KF, then add SB + + F1->link(problem->getTrajectory()); + + F1->addStateBlock("P", sbp1); + + F1->setKey(); + + ASSERT_TRUE(problem->getStateBlockNotification(sbp1, n)); + ASSERT_FALSE(problem->getStateBlockNotification(sbv1, n)); + + F1->addStateBlock("V", sbv1); + + ASSERT_TRUE(problem->getStateBlockNotification(sbv1, n)); + ASSERT_EQ(n, ADD); + } int main(int argc, char **argv) -- GitLab