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
-- 
GitLab