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