From 48482444b0b339489ea316ffa6c3ab743f5ee2b3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 2 Apr 2020 19:17:11 +0200
Subject: [PATCH] Add gtest for constructor with lists
---
test/CMakeLists.txt | 14 ++---
test/gtest_factor_base.cpp | 120 +++++++++++++++++++++++++++++++++++++
2 files changed, 127 insertions(+), 7 deletions(-)
create mode 100644 test/gtest_factor_base.cpp
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index d32d5c621..db82caf1f 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -47,13 +47,9 @@ add_library(dummy ${SRC_DUMMY})
wolf_add_gtest(gtest_capture_base gtest_capture_base.cpp)
target_link_libraries(gtest_capture_base ${PROJECT_NAME})
-# CaptureBase class test
-#wolf_add_gtest(gtest_factor_sparse gtest_factor_sparse.cpp)
-#target_link_libraries(gtest_factor_sparse ${PROJECT_NAME})
-
-# FactorBlockDifference class test
-wolf_add_gtest(gtest_factor_block_difference gtest_factor_block_difference.cpp)
-target_link_libraries(gtest_factor_block_difference ${PROJECT_NAME})
+# FactorBase class test
+wolf_add_gtest(gtest_factor_base gtest_factor_base.cpp)
+target_link_libraries(gtest_factor_base ${PROJECT_NAME})
# FactorAutodiff class test
wolf_add_gtest(gtest_factor_autodiff gtest_factor_autodiff.cpp)
@@ -169,6 +165,10 @@ target_link_libraries(gtest_factor_absolute ${PROJECT_NAME})
wolf_add_gtest(gtest_factor_autodiff_distance_3d gtest_factor_autodiff_distance_3d.cpp)
target_link_libraries(gtest_factor_autodiff_distance_3d ${PROJECT_NAME})
+# FactorBlockDifference class test
+wolf_add_gtest(gtest_factor_block_difference gtest_factor_block_difference.cpp)
+target_link_libraries(gtest_factor_block_difference ${PROJECT_NAME})
+
# FactorOdom3d class test
wolf_add_gtest(gtest_factor_diff_drive gtest_factor_diff_drive.cpp)
target_link_libraries(gtest_factor_diff_drive ${PROJECT_NAME})
diff --git a/test/gtest_factor_base.cpp b/test/gtest_factor_base.cpp
new file mode 100644
index 000000000..9e4f2ef10
--- /dev/null
+++ b/test/gtest_factor_base.cpp
@@ -0,0 +1,120 @@
+/*
+ * gtest_factor_base.cpp
+ *
+ * Created on: Apr 2, 2020
+ * Author: jsola
+ */
+
+
+#include "core/utils/utils_gtest.h"
+#include "core/utils/logging.h"
+
+#include "core/factor/factor_base.h"
+
+using namespace wolf;
+using namespace Eigen;
+
+class FactorBaseTest : public testing::Test
+{
+ public:
+ FrameBasePtr F0,F1;
+ CaptureBasePtr C0,C1;
+ FeatureBasePtr f0,f1;
+ LandmarkBasePtr L0,L1;
+
+ virtual void SetUp()
+ {
+ F0 = std::make_shared<FrameBase>(0.0, nullptr);
+ F1 = std::make_shared<FrameBase>(1.0, nullptr);
+ C0 = std::make_shared<CaptureBase>("Capture", 0.0, nullptr);
+ C1 = std::make_shared<CaptureBase>("Capture", 1.0, nullptr);
+ f0 = std::make_shared<FeatureBase>("Feature", Vector2d(1,2), Matrix2d::Identity(), FeatureBase::UncertaintyType::UNCERTAINTY_IS_COVARIANCE);
+ f1 = std::make_shared<FeatureBase>("Feature", Vector2d(1,2), Matrix2d::Identity(), FeatureBase::UncertaintyType::UNCERTAINTY_IS_COVARIANCE);
+ L0 = std::make_shared<LandmarkBase>("Lmk", nullptr);
+ L1 = std::make_shared<LandmarkBase>("Lmk", nullptr);
+ }
+// virtual void TearDown(){}
+};
+
+class FactorDummy : public FactorBase
+{
+ public:
+ FactorDummy(const FrameBasePtr& _frame_other,
+ const CaptureBasePtr& _capture_other,
+ const FeatureBasePtr& _feature_other,
+ const LandmarkBasePtr& _landmark_other) :
+ FactorBase("Dummy",
+ _frame_other,
+ _capture_other,
+ _feature_other,
+ _landmark_other,
+ nullptr,
+ false)
+ {
+ //
+ }
+ FactorDummy(const FrameBasePtrList& _frame_other_list,
+ const CaptureBasePtrList& _capture_other_list,
+ const FeatureBasePtrList& _feature_other_list,
+ const LandmarkBasePtrList& _landmark_other_list) :
+ FactorBase("Dummy",
+ _frame_other_list,
+ _capture_other_list,
+ _feature_other_list,
+ _landmark_other_list,
+ nullptr,
+ false)
+ {
+ //
+ }
+ virtual ~FactorDummy() = default;
+
+ virtual std::string getTopology() const override {return "DUMMY";}
+ virtual bool evaluate(double const* const* _parameters, double* _residuals, double** _jacobians) const override {return true;}
+ virtual void evaluate(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& _residual, std::vector<Eigen::MatrixXd>& _jacobians) const override {}
+ virtual JacobianMethod getJacobianMethod() const override {return JacobianMethod::JAC_ANALYTIC;}
+ virtual std::vector<StateBlockPtr> getStateBlockPtrVector() const override {std::vector<StateBlockPtr> v; return v;}
+ virtual std::vector<unsigned int> getStateSizes() const override {std::vector<unsigned int> v; return v;}
+ virtual unsigned int getSize() const override {return 0;}
+
+};
+
+TEST_F(FactorBaseTest, constructor_from_pointers)
+{
+ FactorDummy fac(nullptr,C0,f0,nullptr);
+
+ ASSERT_TRUE(fac.getFrameOtherList().empty());
+
+ ASSERT_EQ(fac.getCaptureOtherList().size(), 1);
+
+ ASSERT_EQ(fac.getFeatureOtherList().size(), 1);
+
+ ASSERT_TRUE(fac.getLandmarkOtherList().empty());
+}
+
+TEST_F(FactorBaseTest, constructor_from_lists)
+{
+ FactorDummy fac({},{C0},{f0,f1},{});
+
+ ASSERT_TRUE(fac.getFrameOtherList().empty());
+
+ ASSERT_EQ(fac.getCaptureOtherList().size(), 1);
+
+ ASSERT_EQ(fac.getFeatureOtherList().size(), 2);
+
+ ASSERT_TRUE(fac.getLandmarkOtherList().empty());
+}
+
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+
+ // restrict to a group of tests only
+ //::testing::GTEST_FLAG(filter) = "TestInit.*";
+
+ // restrict to this test only
+ //::testing::GTEST_FLAG(filter) = "TestInit.testName";
+
+ return RUN_ALL_TESTS();
+}
--
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