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Commit 3d5e2504 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Update gtest_has_state_blocks.cpp

parent a78e02c5
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1 merge request!341Resolve "HasStateBlocks::addStateBlock() needs to register SB's"
Pipeline #4963 passed
......@@ -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)
......
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