From 4cb33ec589a6aa1ccd65945ae98e7d8bacdf52d6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 28 Apr 2020 23:21:02 +0200
Subject: [PATCH] Test also if SB is fixed
---
test/gtest_factory_state_block.cpp | 6 +++++-
1 file changed, 5 insertions(+), 1 deletion(-)
diff --git a/test/gtest_factory_state_block.cpp b/test/gtest_factory_state_block.cpp
index 009db5910..a915b061e 100644
--- a/test/gtest_factory_state_block.cpp
+++ b/test/gtest_factory_state_block.cpp
@@ -68,13 +68,17 @@ TEST(FactoryStateBlock, creator_default)
TEST(FactoryStateBlock, creator_StateBlock)
{
auto sbp = FactoryStateBlock::get().create("StateBlock", Eigen::Vector3d(1,2,3), false);
- auto sbv = FactoryStateBlock::get().create("StateBlock", Eigen::Vector2d(4,5), false);
+ auto sbv = FactoryStateBlock::get().create("StateBlock", Eigen::Vector2d(4,5), true);
auto sbw = FactoryStateBlock::get().create("StateBlock", Eigen::Vector1d(6), false);
ASSERT_MATRIX_APPROX(Eigen::Vector3d(1,2,3) , sbp->getState(), 1e-20);
ASSERT_MATRIX_APPROX(Eigen::Vector2d(4,5) , sbv->getState(), 1e-20);
ASSERT_MATRIX_APPROX(Eigen::Vector1d(6) , sbw->getState(), 1e-20);
+ ASSERT_FALSE(sbp->isFixed());
+ ASSERT_TRUE (sbv->isFixed());
+ ASSERT_FALSE(sbw->isFixed());
+
ASSERT_FALSE(sbp->hasLocalParametrization());
ASSERT_FALSE(sbv->hasLocalParametrization());
ASSERT_FALSE(sbw->hasLocalParametrization());
--
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