diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp index 59d10c417055b27a42e231f594ae9802cd889097..29f4f132dc646705cca3c633798a8785c2494fea 100644 --- a/test/gtest_problem.cpp +++ b/test/gtest_problem.cpp @@ -45,6 +45,10 @@ public: virtual void removeStateBlock(const StateBlockPtr& state_ptr){}; virtual void updateStateBlockStatus(const StateBlockPtr& state_ptr){}; virtual void updateStateBlockLocalParametrization(const StateBlockPtr& state_ptr){}; + virtual bool isStateBlockRegistered(const StateBlockPtr& state_ptr){return true;}; + virtual bool isFactorRegistered(const FactorBasePtr& fac_ptr){return true;}; + virtual bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr){return true;}; + virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr){return true;}; }; TEST(Problem, create) diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp index 206ed0ee3e703862b0378d1fc510c8af32cea1f3..496dab16c21dc0de603c0b2169d47a89a85514ed 100644 --- a/test/gtest_solver_manager.cpp +++ b/test/gtest_solver_manager.cpp @@ -35,7 +35,7 @@ class SolverManagerWrapper : public SolverManager { }; - bool isStateBlockRegistered(const StateBlockPtr& st) const + bool isStateBlockRegistered(const StateBlockPtr& st) { return state_blocks_.find(st)!=state_blocks_.end(); }; @@ -45,7 +45,7 @@ class SolverManagerWrapper : public SolverManager return state_block_fixed_.at(st); }; - bool isFactorRegistered(const FactorBasePtr& fac_ptr) const + bool isFactorRegistered(const FactorBasePtr& fac_ptr) { return std::find(factors_.begin(), factors_.end(), fac_ptr) != factors_.end(); }; @@ -62,6 +62,8 @@ class SolverManagerWrapper : public SolverManager virtual void computeCovariances(const CovarianceBlocksToBeComputed blocks){}; virtual void computeCovariances(const std::vector<StateBlockPtr>& st_list){}; + virtual bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr){return true;}; + virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr){return true;}; // The following are dummy implementations bool hasConverged() { return true; } diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp index ab4ff542886b138fa2982000e11cb9d6563eb823..50a78bc0f7b4705a9e17ddf1429ad6ee81aafe48 100644 --- a/test/gtest_trajectory.cpp +++ b/test/gtest_trajectory.cpp @@ -37,6 +37,10 @@ struct DummySolverManager : public SolverManager virtual void removeStateBlock(const StateBlockPtr& state_ptr){}; virtual void updateStateBlockStatus(const StateBlockPtr& state_ptr){}; virtual void updateStateBlockLocalParametrization(const StateBlockPtr& state_ptr){}; + virtual bool isStateBlockRegistered(const StateBlockPtr& state_ptr){return true;}; + virtual bool isFactorRegistered(const FactorBasePtr& fac_ptr){return true;}; + virtual bool isStateBlockRegisteredDerived(const StateBlockPtr& state_ptr){return true;}; + virtual bool isFactorRegisteredDerived(const FactorBasePtr& fac_ptr){return true;}; }; /// Set to true if you want debug info