From b53f87afc9272ec309b7ded5901d613e13599f39 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 4 Jun 2019 16:22:55 +0200
Subject: [PATCH] adapted tests again
---
test/gtest_processor_tracker_feature_dummy.cpp | 2 +-
test/gtest_processor_tracker_landmark_dummy.cpp | 11 +++++------
2 files changed, 6 insertions(+), 7 deletions(-)
diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp
index eaa3d5e59..ea169fcf9 100644
--- a/test/gtest_processor_tracker_feature_dummy.cpp
+++ b/test/gtest_processor_tracker_feature_dummy.cpp
@@ -211,7 +211,7 @@ TEST_F(ProcessorTrackerFeatureDummyTest, processKnown)
ASSERT_TRUE(isFeatureLinked(feat, processor->getIncoming()));
}
-TEST_F(ProcessorTrackerFeatureDummyTest, createFactor)
+TEST_F(ProcessorTrackerFeatureDummyTest, emplaceFactor)
{
FeatureBasePtr ftr(std::make_shared<FeatureBase>("DUMMY FEATURE",
Eigen::Vector1s::Ones(),
diff --git a/test/gtest_processor_tracker_landmark_dummy.cpp b/test/gtest_processor_tracker_landmark_dummy.cpp
index f6159ad00..8ed266881 100644
--- a/test/gtest_processor_tracker_landmark_dummy.cpp
+++ b/test/gtest_processor_tracker_landmark_dummy.cpp
@@ -41,7 +41,7 @@ class ProcessorTrackerLandmarkDummyDummy : public ProcessorTrackerLandmarkDummy
LandmarkBasePtr callEmplaceLandmark(FeatureBasePtr _feature_ptr){ return this->emplaceLandmark(_feature_ptr); }
void callEmplaceNewLandmarks(){ this->emplaceNewLandmarks(); }
- FactorBasePtr callEmlaceFactor(FeatureBasePtr _feature_ptr,
+ FactorBasePtr callEmplaceFactor(FeatureBasePtr _feature_ptr,
LandmarkBasePtr _landmark_ptr){ return this->emplaceFactor(_feature_ptr,
_landmark_ptr); }
@@ -139,7 +139,7 @@ TEST_F(ProcessorTrackerLandmarkDummyTest, detectNewFeatures)
ASSERT_TRUE(isFeatureLinked(feat, last_cap));
}
-TEST_F(ProcessorTrackerLandmarkDummyTest, createLandmark)
+TEST_F(ProcessorTrackerLandmarkDummyTest, emplaceLandmark)
{
// Put a capture on last_ptr_
CaptureBasePtr last_cap = std::make_shared<CaptureVoid>(0, sensor);
@@ -159,7 +159,7 @@ TEST_F(ProcessorTrackerLandmarkDummyTest, createLandmark)
ASSERT_EQ(problem->getMap()->getLandmarkList().size(),n_feat); // emplaced 10 landmarks
}
-TEST_F(ProcessorTrackerLandmarkDummyTest, createNewLandmarks)
+TEST_F(ProcessorTrackerLandmarkDummyTest, emplaceNewLandmarks)
{
// Put a capture on last_ptr_
CaptureBasePtr last_cap = std::make_shared<CaptureVoid>(0, sensor);
@@ -255,7 +255,7 @@ TEST_F(ProcessorTrackerLandmarkDummyTest, processKnown)
ASSERT_EQ(processor->getMatchesLandmarkFromIncoming().size(), 9); // 1 of each 10 landmarks is not found
}
-TEST_F(ProcessorTrackerLandmarkDummyTest, createFactor)
+TEST_F(ProcessorTrackerLandmarkDummyTest, emplaceFactor)
{
FeatureBasePtr ftr(std::make_shared<FeatureBase>("DUMMY FEATURE",
Eigen::Vector1s::Ones(),
@@ -264,8 +264,7 @@ TEST_F(ProcessorTrackerLandmarkDummyTest, createFactor)
std::make_shared<StateBlock>(1),
std::make_shared<StateBlock>(1)));
- FactorBasePtr fac = processor->callEmlaceFactor(ftr, lmk);
- fac->link(ftr);
+ FactorBasePtr fac = processor->callEmplaceFactor(ftr, lmk);
ASSERT_EQ(fac->getFeature(),ftr);
ASSERT_EQ(fac->getFrameOther(),nullptr);
ASSERT_EQ(fac->getCaptureOther(),nullptr);
--
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