From 7c54c88c132a12dc8d4c3c56146adbbabe98827b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 6 Feb 2019 11:00:49 +0100
Subject: [PATCH] merged checks and solves in the same tests
---
src/test/gtest_constraint_absolute.cpp | 31 +++++---------------------
1 file changed, 6 insertions(+), 25 deletions(-)
diff --git a/src/test/gtest_constraint_absolute.cpp b/src/test/gtest_constraint_absolute.cpp
index 75e2f7a3e..dc3d34ac1 100644
--- a/src/test/gtest_constraint_absolute.cpp
+++ b/src/test/gtest_constraint_absolute.cpp
@@ -49,20 +49,13 @@ CaptureBasePtr cap0 = frm0->addCapture(std::make_shared<CaptureMotion>("IMU ABS"
* Both features and constraints are created in the TEST(). Hence, tests will not interfere each others.
*/
-TEST(ConstraintBlockAbs, ctr_block_abs_p_check)
+TEST(ConstraintBlockAbs, ctr_block_abs_p)
{
FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("POSITION", pose10.head<3>(), data_cov.topLeftCorner<3,3>()));
- ConstraintBlockAbsolutePtr ctr0 = std::static_pointer_cast<ConstraintBlockAbsolute>(
- fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getPPtr()))
- );
+ fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getPPtr()));
+
ASSERT_TRUE(problem->check(0));
-}
-TEST(ConstraintBlockAbs, ctr_block_abs_p_solve)
-{
- FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("POSITION", pose10.head<3>(), data_cov.topLeftCorner<3,3>()));
- fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getPPtr()));
-
// Unfix frame 0, perturb frm0
frm0->unfix();
frm0->setState(x0);
@@ -76,7 +69,7 @@ TEST(ConstraintBlockAbs, ctr_block_abs_p_solve)
ASSERT_MATRIX_APPROX(frm0->getState().head<3>(), pose10.head<3>(), 1e-6);
}
-TEST(ConstraintBlockAbs, ctr_block_abs_p_tail2_solve)
+TEST(ConstraintBlockAbs, ctr_block_abs_p_tail2)
{
FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("POSITION TAIL 2", pose10.tail<2>(), data_cov.bottomRightCorner<2,2>()));
fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getPPtr(),1,2));
@@ -94,18 +87,12 @@ TEST(ConstraintBlockAbs, ctr_block_abs_p_tail2_solve)
ASSERT_MATRIX_APPROX(frm0->getState().tail<2>(), pose10.tail<2>(), 1e-6);
}
-TEST(ConstraintBlockAbs, ctr_block_abs_v_check)
+TEST(ConstraintBlockAbs, ctr_block_abs_v)
{
FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("VELOCITY", pose10.tail<3>(), data_cov.bottomRightCorner<3,3>()));
fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getVPtr()));
ASSERT_TRUE(problem->check(0));
-}
-
-TEST(ConstraintBlockAbs, ctr_block_abs_v_solve)
-{
- FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("VELOCITY", pose10.tail<3>(), data_cov.bottomRightCorner<3,3>()));
- fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getVPtr()));
// Unfix frame 0, perturb frm0
frm0->unfix();
@@ -120,18 +107,12 @@ TEST(ConstraintBlockAbs, ctr_block_abs_v_solve)
ASSERT_MATRIX_APPROX(frm0->getState().tail<3>(), pose10.tail<3>(), 1e-6);
}
-TEST(ConstraintQuatAbs, ctr_block_abs_o_check)
+TEST(ConstraintQuatAbs, ctr_block_abs_o)
{
FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("QUATERNION", pose10.segment<4>(3), data_cov.block<3,3>(3,3)));
fea0->addConstraint(std::make_shared<ConstraintQuaternionAbsolute>(fea0->getFramePtr()->getOPtr()));
ASSERT_TRUE(problem->check(0));
-}
-
-TEST(ConstraintQuatAbs, ctr_block_abs_o_solve)
-{
- FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("QUATERNION", pose10.segment<4>(3), data_cov.block<3,3>(3,3)));
- fea0->addConstraint(std::make_shared<ConstraintQuaternionAbsolute>(fea0->getFramePtr()->getOPtr()));
// Unfix frame 0, perturb frm0
frm0->unfix();
--
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