diff --git a/test/gtest_processor_landmark_external.cpp b/test/gtest_processor_landmark_external.cpp
index 3fe0eeef4e0ce85bbae13105bf55fe11cb324482..c160058101ad934f5c977a2b214d82a57ce7b01e 100644
--- a/test/gtest_processor_landmark_external.cpp
+++ b/test/gtest_processor_landmark_external.cpp
@@ -94,9 +94,9 @@ void ProcessorLandmarkExternalTest::initProblem(int _dim,
bool _init_landmarks)
{
// INCOMPATIBLE OPTIONS
- if (_init_landmarks and mode == 2)
+ if (_init_landmarks and _mode == 2)
throw std::runtime_error("Landmarks initialized with mode 2 (no id no type), impossible to close loops");
- if (_init_landmarks and mode == 4)
+ if (_init_landmarks and _mode == 4)
throw std::runtime_error("Landmarks initialized with mode 4 (changing), impossible to close loops");
dim = _dim;
@@ -178,13 +178,13 @@ void ProcessorLandmarkExternalTest::initProblem(int _dim,
// Emplace 3 random landmarks
for (auto i = 0; i < 3; i++)
{
- bool init_landmark = _init_landmarks and mode != 3 and i % 3 != 2;
+ bool init_landmark = _init_landmarks and mode != 3 and i % 3 != 2;
LandmarkExternalPtr lmk;
if (dim == 2)
lmk = LandmarkBase::emplace<LandmarkExternal>(
init_landmark ? problem->getMap() : nullptr,
i + 1,
- 3*i + 10,
+ 3 * i + 10,
std::make_shared<StatePoint2d>(Vector2d::Random() * 10),
(orientation ? std::make_shared<StateAngle>(Vector1d::Random() * M_PI) : nullptr));
@@ -192,7 +192,7 @@ void ProcessorLandmarkExternalTest::initProblem(int _dim,
lmk = LandmarkBase::emplace<LandmarkExternal>(
init_landmark ? problem->getMap() : nullptr,
i + 1,
- 3*i + 10,
+ 3 * i + 10,
std::make_shared<StatePoint3d>(Vector3d::Random() * 10),
(orientation ? std::make_shared<StateQuaternion>(Vector4d::Random().normalized()) : nullptr));
landmarks.push_back(lmk);
@@ -385,8 +385,12 @@ void ProcessorLandmarkExternalTest::testConfiguration(int _dim,
for (auto lmk_map : landmarks_map)
{
auto lmk_ext = std::static_pointer_cast<LandmarkExternal>(lmk_map);
- ASSERT_EQ(lmk_ext->getExternalId(), landmarks.at(lmk_ext->getExternalId() - 1)->getExternalId());
- assertVectorComposite(lmk_map->getState(), state_landmarks.at(lmk_ext->getExternalId() - 1));
+ if (lmk_ext->getExternalId() != -1)
+ {
+ ASSERT_EQ(lmk_ext->getExternalId(),
+ landmarks.at(lmk_ext->getExternalId() - 1)->getExternalId());
+ assertVectorComposite(lmk_map->getState(), state_landmarks.at(lmk_ext->getExternalId() - 1));
+ }
}
}
}
@@ -449,14 +453,16 @@ void ProcessorLandmarkExternalTest::assertVectorComposite(const VectorComposite&
throw std::runtime_error("wrong vector composite");
}
-// / TESTS //////////////////////////////////////////
+/// TESTS //////////////////////////////////////////
+
+//-------------------- Position in 2D --------------------
TEST_F(ProcessorLandmarkExternalTest, P_2d_loop_closure_id)
{
testConfiguration(2, // int dim
false, // bool orientation
0, // int mode
0, // double quality_th
- 1e6, // double dist_th
+ 1e-2, // double dist_th
6, // int track_length
4.5 * dt, // double time_span
true); // bool init_landmarks & loop closure
@@ -468,7 +474,7 @@ TEST_F(ProcessorLandmarkExternalTest, P_2d_loop_closure_type)
false, // bool orientation
1, // int mode
0, // double quality_th
- 1e6, // double dist_th
+ 1e-2, // double dist_th
6, // int track_length
4.5 * dt, // double time_span
true); // bool init_landmarks & loop closure
@@ -480,7 +486,7 @@ TEST_F(ProcessorLandmarkExternalTest, P_2d_loop_closure_mixed)
false, // bool orientation
3, // int mode
0, // double quality_th
- 1e-2, // double dist_th
+ 1e-2, // double dist_th
6, // int track_length
4.5 * dt, // double time_span
true); // bool init_landmarks & loop closure
@@ -492,7 +498,7 @@ TEST_F(ProcessorLandmarkExternalTest, P_2d_id)
false, // bool orientation
0, // int mode
0, // double quality_th
- 1e6, // double dist_th
+ 1e-2, // double dist_th
2, // int track_length
4.5 * dt, // double time_span
false); // bool init_landmarks & loop closure
@@ -504,7 +510,7 @@ TEST_F(ProcessorLandmarkExternalTest, P_2d_type)
false, // bool orientation
1, // int mode
0, // double quality_th
- 1e6, // double dist_th
+ 1e-2, // double dist_th
2, // int track_length
4.5 * dt, // double time_span
false); // bool init_landmarks & loop closure
@@ -516,7 +522,7 @@ TEST_F(ProcessorLandmarkExternalTest, P_2d_nothing)
false, // bool orientation
2, // int mode
0, // double quality_th
- 1e6, // double dist_th
+ 1e-2, // double dist_th
2, // int track_length
4.5 * dt, // double time_span
false); // bool init_landmarks & loop closure
@@ -528,7 +534,7 @@ TEST_F(ProcessorLandmarkExternalTest, P_2d_mixed)
false, // bool orientation
3, // int mode
0, // double quality_th
- 1e6, // double dist_th
+ 1e-2, // double dist_th
2, // int track_length
4.5 * dt, // double time_span
false); // bool init_landmarks & loop closure
@@ -540,455 +546,542 @@ TEST_F(ProcessorLandmarkExternalTest, P_2d_changing)
false, // bool orientation
4, // int mode
0, // double quality_th
- 1e6, // double dist_th
+ 1e-2, // double dist_th
2, // int track_length
4.5 * dt, // double time_span
false); // bool init_landmarks & loop closure
}
-// TEST_F(ProcessorLandmarkExternalTest, P_2d_quality_id)
-// {
-// testConfiguration(2, // int dim
-// false, // bool orientation
-// 0, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 6, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_2d_quality_type)
-// {
-// testConfiguration(2, // int dim
-// false, // bool orientation
-// 1, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 6, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_2d_quality_nothing)
-// {
-// testConfiguration(2, // int dim
-// false, // bool orientation
-// 2, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 6, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_2d_quality_mixed)
-// {
-// testConfiguration(2, // int dim
-// false, // bool orientation
-// 3, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 6, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_2d_loop_closure_id)
-// {
-// testConfiguration(2, // int dim
-// true, // bool orientation
-// 0, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 3, // int track_length
-// 4.5 * dt, // double time_span
-// true); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_2d_loop_closure_type)
-// {
-// testConfiguration(2, // int dim
-// true, // bool orientation
-// 1, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 3, // int track_length
-// 4.5 * dt, // double time_span
-// true); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_2d_loop_closure_mixed)
-// {
-// testConfiguration(2, // int dim
-// true, // bool orientation
-// 3, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 3, // int track_length
-// 4.5 * dt, // double time_span
-// true); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_2d_id)
-// {
-// testConfiguration(2, // int dim
-// true, // bool orientation
-// 0, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 1, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_2d_type)
-// {
-// testConfiguration(2, // int dim
-// true, // bool orientation
-// 1, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 1, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_2d_nothing)
-// {
-// testConfiguration(2, // int dim
-// true, // bool orientation
-// 2, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 1, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_2d_mixed)
-// {
-// testConfiguration(2, // int dim
-// true, // bool orientation
-// 3, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 1, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_2d_quality_id)
-// {
-// testConfiguration(2, // int dim
-// true, // bool orientation
-// 0, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 0, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_2d_quality_type)
-// {
-// testConfiguration(2, // int dim
-// true, // bool orientation
-// 1, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 0, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_2d_quality_nothing)
-// {
-// testConfiguration(2, // int dim
-// true, // bool orientation
-// 2, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 0, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_2d_quality_mixed)
-// {
-// testConfiguration(2, // int dim
-// true, // bool orientation
-// 3, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 0, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_3d_loop_closure_id)
-// {
-// testConfiguration(3, // int dim
-// false, // bool orientation
-// 0, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 7, // int track_length
-// 4.5 * dt, // double time_span
-// true); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_3d_loop_closure_type)
-// {
-// testConfiguration(3, // int dim
-// false, // bool orientation
-// 1, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 7, // int track_length
-// 4.5 * dt, // double time_span
-// true); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_3d_loop_closure_mixed)
-// {
-// testConfiguration(3, // int dim
-// false, // bool orientation
-// 3, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 7, // int track_length
-// 4.5 * dt, // double time_span
-// true); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_3d_id)
-// {
-// testConfiguration(3, // int dim
-// false, // bool orientation
-// 0, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 53, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_3d_type)
-// {
-// testConfiguration(3, // int dim
-// false, // bool orientation
-// 1, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 53, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_3d_nothing)
-// {
-// testConfiguration(3, // int dim
-// false, // bool orientation
-// 2, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 53, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_3d_mixed)
-// {
-// testConfiguration(3, // int dim
-// false, // bool orientation
-// 3, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 53, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_3d_quality_id)
-// {
-// testConfiguration(3, // int dim
-// false, // bool orientation
-// 0, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 2, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_3d_quality_type)
-// {
-// testConfiguration(3, // int dim
-// false, // bool orientation
-// 1, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 2, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_3d_quality_nothing)
-// {
-// testConfiguration(3, // int dim
-// false, // bool orientation
-// 2, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 2, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, P_3d_quality_mixed)
-// {
-// testConfiguration(3, // int dim
-// false, // bool orientation
-// 3, // int mode
-// 0.3, // double quality_th
-// 1e6, // double dist_th
-// 2, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_3d_loop_closure_id)
-// {
-// testConfiguration(3, // int dim
-// true, // bool orientation
-// 0, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 1, // int track_length
-// 4.5 * dt, // double time_span
-// true); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_3d_loop_closure_type)
-// {
-// testConfiguration(3, // int dim
-// true, // bool orientation
-// 1, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 1, // int track_length
-// 4.5 * dt, // double time_span
-// true); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_3d_loop_closure_mixed)
-// {
-// testConfiguration(3, // int dim
-// true, // bool orientation
-// 3, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 1, // int track_length
-// 4.5 * dt, // double time_span
-// true); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_3d_id)
-// {
-// testConfiguration(3, // int dim
-// true, // bool orientation
-// 0, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 4, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_3d_type)
-// {
-// testConfiguration(3, // int dim
-// true, // bool orientation
-// 1, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 4, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_3d_nothing)
-// {
-// testConfiguration(3, // int dim
-// true, // bool orientation
-// 2, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 4, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_3d_mixed)
-// {
-// testConfiguration(3, // int dim
-// true, // bool orientation
-// 3, // int mode
-// 0, // double quality_th
-// 1e6, // double dist_th
-// 4, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_3d_quality_id)
-// {
-// testConfiguration(3, // int dim
-// true, // bool orientation
-// 0, // int mode
-// 0.2, // double quality_th
-// 1e6, // double dist_th
-// 5, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_3d_quality_type)
-// {
-// testConfiguration(3, // int dim
-// true, // bool orientation
-// 1, // int mode
-// 0.2, // double quality_th
-// 1e6, // double dist_th
-// 5, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_3d_quality_nothing)
-// {
-// testConfiguration(3, // int dim
-// true, // bool orientation
-// 2, // int mode
-// 0.2, // double quality_th
-// 1e6, // double dist_th
-// 5, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
-
-// TEST_F(ProcessorLandmarkExternalTest, PO_3d_quality_mixed)
-// {
-// testConfiguration(3, // int dim
-// true, // bool orientation
-// 3, // int mode
-// 0.2, // double quality_th
-// 1e6, // double dist_th
-// 5, // int track_length
-// 4.5 * dt, // double time_span
-// false); // bool init_landmarks & loop closure
-// }
+TEST_F(ProcessorLandmarkExternalTest, P_2d_quality_id)
+{
+ testConfiguration(2, // int dim
+ false, // bool orientation
+ 0, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_2d_quality_type)
+{
+ testConfiguration(2, // int dim
+ false, // bool orientation
+ 1, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_2d_quality_nothing)
+{
+ testConfiguration(2, // int dim
+ false, // bool orientation
+ 2, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_2d_quality_mixed)
+{
+ testConfiguration(2, // int dim
+ false, // bool orientation
+ 3, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_2d_quality_changing)
+{
+ testConfiguration(2, // int dim
+ false, // bool orientation
+ 4, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+//-------------------- Position & Orientation in 2D --------------------
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_loop_closure_id)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 0, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ true); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_loop_closure_type)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 1, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ true); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_loop_closure_mixed)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 3, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ true); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_id)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 0, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_type)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 1, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_nothing)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 2, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_mixed)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 3, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_changing)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 4, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_quality_id)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 0, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_quality_type)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 1, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_quality_nothing)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 2, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_quality_mixed)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 3, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_2d_quality_changing)
+{
+ testConfiguration(2, // int dim
+ true, // bool orientation
+ 4, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+//-------------------- Position in 3D --------------------
+TEST_F(ProcessorLandmarkExternalTest, P_3d_loop_closure_id)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 0, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ true); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_loop_closure_type)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 1, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ true); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_loop_closure_mixed)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 3, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ true); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_id)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 0, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_type)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 1, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_nothing)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 2, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_mixed)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 3, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_changing)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 4, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_quality_id)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 0, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_quality_type)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 1, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_quality_nothing)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 2, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_quality_mixed)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 3, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, P_3d_quality_changing)
+{
+ testConfiguration(3, // int dim
+ false, // bool orientation
+ 4, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+//-------------------- Position & Orientation in 3D --------------------
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_loop_closure_id)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 0, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ true); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_loop_closure_type)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 1, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ true); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_loop_closure_mixed)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 3, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ true); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_id)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 0, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_type)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 1, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_nothing)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 2, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_mixed)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 3, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_changing)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 4, // int mode
+ 0, // double quality_th
+ 1e-2, // double dist_th
+ 2, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_quality_id)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 0, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_quality_type)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 1, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_quality_nothing)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 2, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_quality_mixed)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 3, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
+
+TEST_F(ProcessorLandmarkExternalTest, PO_3d_quality_changing)
+{
+ testConfiguration(3, // int dim
+ true, // bool orientation
+ 4, // int mode
+ 0.3, // double quality_th
+ 1e-2, // double dist_th
+ 6, // int track_length
+ 4.5 * dt, // double time_span
+ false); // bool init_landmarks & loop closure
+}
int main(int argc, char** argv)
{