From 8c8b4dff44e562b4277767d6d423c9ee357b6b6f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 25 Mar 2020 17:22:07 +0100
Subject: [PATCH] Add test for re-notification after solve
---
src/solver/solver_manager.cpp | 2 +-
test/gtest_has_state_blocks.cpp | 45 +++++++++++++++++++++++++++++++++
2 files changed, 46 insertions(+), 1 deletion(-)
diff --git a/src/solver/solver_manager.cpp b/src/solver/solver_manager.cpp
index 0d47cd191..6532dfc6a 100644
--- a/src/solver/solver_manager.cpp
+++ b/src/solver/solver_manager.cpp
@@ -50,7 +50,7 @@ void SolverManager::update()
}
else
{
- WOLF_DEBUG("Tried to add an already added !");
+ WOLF_DEBUG("Tried to add a StateBlock that was already added !");
}
}
else
diff --git a/test/gtest_has_state_blocks.cpp b/test/gtest_has_state_blocks.cpp
index 2d710f321..4118f0f4d 100644
--- a/test/gtest_has_state_blocks.cpp
+++ b/test/gtest_has_state_blocks.cpp
@@ -12,6 +12,7 @@
#include "core/sensor/sensor_base.h"
#include "core/landmark/landmark_base.h"
#include "core/state_block/state_quaternion.h"
+#include "core/ceres_wrapper/ceres_manager.h"
using namespace wolf;
@@ -108,6 +109,50 @@ TEST_F(HasStateBlocksTest, Notifications_addStateBlock)
}
+TEST_F(HasStateBlocksTest, Add_solve_notify_solve_add)
+{
+
+ CeresManagerPtr solver = std::make_shared<CeresManager>(problem);
+
+
+ Notification n;
+
+ // Add SB, make KF
+
+ ASSERT_FALSE(problem->getStateBlockNotification(sbp0, n));
+
+ F0->link(problem->getTrajectory());
+ F0->addStateBlock("V", sbv0);
+ F0->setKey();
+
+ ASSERT_TRUE(problem->getStateBlockNotification(sbv0, n));
+ ASSERT_EQ(n, ADD);
+
+ // solve. This will clear all notifications
+
+ std::string report = solver->solve(SolverManager::ReportVerbosity::FULL);
+
+ ASSERT_FALSE(problem->getStateBlockNotification(sbv0, n));
+
+ // Notify again the same SB
+
+ problem->notifyStateBlock(sbv0, ADD);
+
+ ASSERT_TRUE(problem->getStateBlockNotification(sbv0, n));
+ ASSERT_EQ(n, ADD);
+
+ // solve again
+
+ report = solver->solve(SolverManager::ReportVerbosity::FULL);
+
+ ASSERT_FALSE(problem->getStateBlockNotification(sbv0, n));
+
+ // Add again the same SB. This should crash
+
+ ASSERT_DEATH( F0->addStateBlock("V", sbv0) , "" );
+
+}
+
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
--
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