From 63f9ab7585e432a9d3408c50551f5687d404fc28 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Wed, 27 May 2020 15:30:04 +0200
Subject: [PATCH] Adapt gtest_trajectory to trajectory changes
---
test/gtest_trajectory.cpp | 50 +++++++--------------------------------
1 file changed, 9 insertions(+), 41 deletions(-)
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index 439e23050..b942c10e7 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -84,40 +84,6 @@ TEST(TrajectoryBase, ClosestKeyFrame)
ASSERT_EQ(KF->id(), F2->id()); // same id!
}
-TEST(TrajectoryBase, ClosestKeyOrAuxFrame)
-{
-
- ProblemPtr P = Problem::create("PO", 2);
- TrajectoryBasePtr T = P->getTrajectory();
-
- // Trajectory status:
- // KF1 KF2 KF3 frames
- // 1 2 3 time stamps
- // --+-----+-----+---> time
-
- FrameBasePtr F1 = P->emplaceKeyFrame(Eigen::Vector3d::Zero(), 1);
- //WARNING! MIGHT NEED TO ROLLBACK THIS TO AUXILIARY, FELLA
- FrameBasePtr F2 = P->emplaceKeyFrame(P->getFrameStructure(), P->getDim(), Eigen::Vector3d::Zero(), 2);
- FrameBasePtr F3 = P->emplaceKeyFrame(P->getFrameStructure(), P->getDim(), Eigen::Vector3d::Zero(), 3);
-
- FrameBasePtr KF; // closest key-frame queried
-
- KF = T->closestKeyFrameToTimeStamp(-0.8); // before all keyframes --> return f0
- ASSERT_EQ(KF->id(), F1->id()); // same id!
-
- KF = T->closestKeyFrameToTimeStamp(1.1); // between keyframes --> return F1
- ASSERT_EQ(KF->id(), F1->id()); // same id!
-
- KF = T->closestKeyFrameToTimeStamp(1.9); // between keyframes --> return F2
- ASSERT_EQ(KF->id(), F2->id()); // same id!
-
- KF = T->closestKeyFrameToTimeStamp(2.6); // between keyframe and frame, but closer to frame --> return F2
- ASSERT_EQ(KF->id(), F3->id()); // same id!
-
- KF = T->closestKeyFrameToTimeStamp(3.2); // after the last frame --> return F2
- ASSERT_EQ(KF->id(), F3->id()); // same id!
-}
-
TEST(TrajectoryBase, Add_Remove_Frame)
{
using std::make_shared;
@@ -149,14 +115,16 @@ TEST(TrajectoryBase, Add_Remove_Frame)
std::cout << __LINE__ << std::endl;
// add F3
- // FrameBasePtr F3 = P->emplaceKeyFrame(P->getFrameStructure(), P->getDim(), Eigen::Vector3d::Zero(), 3);
- FrameBasePtr F3 = P->emplaceKeyFrame(Eigen::Vector3d::Zero(), 3); // 1 fixed, 1 not
+ FrameBasePtr F3 = FrameBase::createNonKeyFrame<FrameBase>(P->getFrameStructure(),
+ P->getDim(),
+ 3,
+ Eigen::Vector3d::Zero()); // 1 fixed, 1 not
if (debug) P->print(2,0,0,0);
- ASSERT_EQ(T->getFrameList(). size(), (SizeStd) 3);
- ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 6);
+ ASSERT_EQ(T->getFrameList(). size(), (SizeStd) 2);
+ ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 4);
std::cout << __LINE__ << std::endl;
- ASSERT_EQ(T->getLastKeyFrame()->id(), F3->id());
+ ASSERT_EQ(T->getLastKeyFrame()->id(), F2->id());
std::cout << __LINE__ << std::endl;
N.update();
@@ -166,11 +134,11 @@ TEST(TrajectoryBase, Add_Remove_Frame)
// remove frames and keyframes
F2->remove(); // KF
if (debug) P->print(2,0,0,0);
- ASSERT_EQ(T->getFrameList(). size(), (SizeStd) 2);
+ ASSERT_EQ(T->getFrameList(). size(), (SizeStd) 1);
ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 2);
std::cout << __LINE__ << std::endl;
- ASSERT_EQ(T->getLastKeyFrame()->id(), F3->id());
+ ASSERT_EQ(T->getLastKeyFrame()->id(), F1->id());
std::cout << __LINE__ << std::endl;
F3->remove(); // F
--
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