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Commit c04b9441 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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removing maps generated in the test

parent 42fc32ec
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1 merge request!278Resolve "Revisit demos (formerly called examples) and update them"
Pipeline #3552 passed
This commit is part of merge request !278. Comments created here will be created in the context of that merge request.
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with 43 additions and 27 deletions
test/gtest_map_yaml.cpp
+ 43
− 27
View file @ c04b9441
......@@ -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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