From c04b9441e1ecda8c40df8c0fc40984d9c289ba53 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 28 May 2019 10:06:24 +0200
Subject: [PATCH] removing maps generated in the test
---
test/gtest_map_yaml.cpp | 70 +++++++++++++++++++++++++----------------
1 file changed, 43 insertions(+), 27 deletions(-)
diff --git a/test/gtest_map_yaml.cpp b/test/gtest_map_yaml.cpp
index 1df25d5ef..46cdebf33 100644
--- a/test/gtest_map_yaml.cpp
+++ b/test/gtest_map_yaml.cpp
@@ -237,35 +237,51 @@ TEST(MapYaml, load_3D)
ASSERT_EQ(problem->getMap()->getLandmarkList().size(), 3);
for (auto lmk : problem->getMap()->getLandmarkList())
+ {
+ if (lmk->id() == 1)
{
- if (lmk->id() == 1)
- {
- ASSERT_TRUE(lmk->getP() != nullptr);
- ASSERT_TRUE(lmk->getO() == nullptr);
- ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<1,2,3).finished(), 1e-12);
- ASSERT_FALSE(lmk->getP()->isFixed());
- }
- else if (lmk->id() == 2)
- {
- ASSERT_TRUE(lmk->getP() != nullptr);
- ASSERT_TRUE(lmk->getO() != nullptr);
- ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<4,5,6).finished(), 1e-12);
- ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,1,0,0).finished(), 1e-12);
- ASSERT_FALSE(lmk->getP()->isFixed());
- ASSERT_FALSE(lmk->getO()->isFixed());
- // TODO check if localparameterization of type quaternion
- }
- else if (lmk->id() == 3)
- {
- ASSERT_TRUE(lmk->getP() != nullptr);
- ASSERT_TRUE(lmk->getO() != nullptr);
- ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<7,8,9).finished(), 1e-12);
- ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,0,1,0).finished(), 1e-12);
- ASSERT_TRUE(lmk->getP()->isFixed());
- ASSERT_TRUE(lmk->getO()->isFixed());
- // TODO check if localparameterization of type quaternion
- }
+ ASSERT_TRUE(lmk->getP() != nullptr);
+ ASSERT_TRUE(lmk->getO() == nullptr);
+ ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<1,2,3).finished(), 1e-12);
+ ASSERT_FALSE(lmk->getP()->isFixed());
}
+ else if (lmk->id() == 2)
+ {
+ ASSERT_TRUE(lmk->getP() != nullptr);
+ ASSERT_TRUE(lmk->getO() != nullptr);
+ ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<4,5,6).finished(), 1e-12);
+ ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,1,0,0).finished(), 1e-12);
+ ASSERT_FALSE(lmk->getP()->isFixed());
+ ASSERT_FALSE(lmk->getO()->isFixed());
+ // TODO check if localparameterization of type quaternion
+ }
+ else if (lmk->id() == 3)
+ {
+ ASSERT_TRUE(lmk->getP() != nullptr);
+ ASSERT_TRUE(lmk->getO() != nullptr);
+ ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<7,8,9).finished(), 1e-12);
+ ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,0,1,0).finished(), 1e-12);
+ ASSERT_TRUE(lmk->getP()->isFixed());
+ ASSERT_TRUE(lmk->getO()->isFixed());
+ // TODO check if localparameterization of type quaternion
+ }
+ }
+}
+
+
+TEST(MapYaml, remove_map_files)
+{
+ std::string wolf_root = _WOLF_ROOT_DIR;
+ std::string map_path = wolf_root + "/test/yaml";
+
+ std::string filename = map_path + "/map_2D_problem.yaml";
+ ASSERT_TRUE(std::remove(filename.c_str()) == 0);
+ filename = map_path + "/map_2D_map.yaml";
+ ASSERT_TRUE(std::remove(filename.c_str()) == 0);
+ filename = map_path + "/map_3D_problem.yaml";
+ ASSERT_TRUE(std::remove(filename.c_str()) == 0);
+ filename = map_path + "/map_3D_map.yaml";
+ ASSERT_TRUE(std::remove(filename.c_str()) == 0);
}
int main(int argc, char **argv)
--
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