Fix asserts in CaptureBase::move()

src/capture/capture_base.cpp

@@ -177,11 +177,11 @@ void CaptureBase::unfix()
 
 void CaptureBase::move(FrameBasePtr _frm_ptr)
 {
-    WOLF_WARN_COND(this->getFrame() == nullptr, "moving a capture not linked to any frame");
-    WOLF_WARN_COND(_frm_ptr == nullptr, "moving a capture to a null FrameBasePtr");
+    WOLF_WARN_COND(this->getFrame() == nullptr, "moving a capture not linked to any frame. Consider just linking it with link() instead of move()!");
 
-    assert((this->getFrame() == nullptr || this->getFrame()->getProblem()) && "Forbidden: moving a capture already linked to a KF");
-    assert((_frm_ptr == nullptr || !_frm_ptr->getProblem()) && "Forbidden: moving a capture to a non-estimated frame");
+    assert((this->getFrame() == nullptr || not this->getFrame()->getProblem()) && "Forbidden: moving a capture already linked to a KF");
+    assert((_frm_ptr != nullptr) && "Forbidden: moving a capture to a null frame");
+    assert((_frm_ptr != nullptr && _frm_ptr->getProblem()) && "Forbidden: moving a capture to a non-estimated frame");
 
     // Unlink
     if (this->getFrame())

test/gtest_capture_base.cpp

@@ -100,6 +100,71 @@ TEST(CaptureBase, process)
     ASSERT_TRUE(C->process()); // This should not fail (although it does nothing)
 }
 
+TEST(CaptureBase, move_from_F_to_KF)
+{
+    ProblemPtr problem = Problem::create("PO", 2);
+
+    auto KF = problem->emplaceFrame(0.0); // dummy F object
+
+    auto KC = CaptureBase::emplace<CaptureBase>(KF, "Dummy", 0.0);
+
+    auto F = std::make_shared<FrameBase>(0.0, nullptr); // dummy F object
+
+    auto C = CaptureBase::emplace<CaptureBase>(F, "Dummy", 0.0);
+
+    ASSERT_EQ(KF->getCaptureList().size(), 1);
+    ASSERT_EQ(F->getCaptureList().size(), 1);
+
+    C->move(KF);
+
+    ASSERT_EQ(KF->getCaptureList().size(), 2);
+    ASSERT_EQ(F->getCaptureList().size(), 0);
+}
+
+TEST(CaptureBase, move_from_F_to_null)
+{
+    ProblemPtr problem = Problem::create("PO", 2);
+
+    FrameBasePtr F0 = nullptr;
+
+    auto F = std::make_shared<FrameBase>(0.0, nullptr); // dummy F object
+
+    auto C = CaptureBase::emplace<CaptureBase>(F, "Dummy", 0.0);
+
+    ASSERT_EQ(F->getCaptureList().size(), 1);
+
+    ASSERT_DEATH( C->move(F0), "");
+}
+
+TEST(CaptureBase, move_from_null_to_KF)
+{
+    ProblemPtr problem = Problem::create("PO", 2);
+
+    auto KF = problem->emplaceFrame(0.0); // dummy F object
+
+    auto KC = CaptureBase::emplace<CaptureBase>(KF, "Dummy", 0.0);
+
+    auto C = std::make_shared<CaptureBase>("Dummy", 0.0);
+
+    ASSERT_EQ(KF->getCaptureList().size(), 1);
+
+    C->move(KF);
+
+    ASSERT_EQ(KF->getCaptureList().size(), 2);
+}
+
+TEST(CaptureBase, move_from_null_to_F)
+{
+    ProblemPtr problem = Problem::create("PO", 2);
+
+    auto F = std::make_shared<FrameBase>(0.0, nullptr); // dummy F object
+
+    auto C = std::make_shared<CaptureBase>("Dummy", 0.0);
+
+    ASSERT_DEATH(C->move(F), "");
+}
+
+
 int main(int argc, char **argv)
 {
   testing::InitGoogleTest(&argc, argv);