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Commit 8588cf40 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Complete tests for regular state blocks

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1 merge request!363Resolve "Factory for state blocks"
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test/gtest_factory_state_block.cpp
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......@@ -59,6 +59,10 @@ TEST(FactoryStateBlock, creator_default)
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->hasLocalParametrization());
ASSERT_FALSE(sbv->hasLocalParametrization());
ASSERT_FALSE(sbw->hasLocalParametrization());
}
TEST(FactoryStateBlock, creator_StateBlock)
......@@ -70,6 +74,10 @@ TEST(FactoryStateBlock, creator_StateBlock)
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->hasLocalParametrization());
ASSERT_FALSE(sbv->hasLocalParametrization());
ASSERT_FALSE(sbw->hasLocalParametrization());
}
TEST(FactoryStateBlock, creator_Quaternion)
......
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