From d1eaaa5b6715fd3889335e3bd7bba6e5001600f6 Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Wed, 15 May 2019 15:05:47 +0200
Subject: [PATCH] Fixed tests to accomodate new solver debugging utilities
---
test/gtest_problem.cpp | 4 ++++
test/gtest_solver_manager.cpp | 6 ++++--
test/gtest_trajectory.cpp | 4 ++++
3 files changed, 12 insertions(+), 2 deletions(-)
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 59d10c417..29f4f132d 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 206ed0ee3..496dab16c 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 ab4ff5428..50a78bc0f 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
--
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