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Commit d1eaaa5b authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
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Fixed tests to accomodate new solver debugging utilities

parent 39cd6632
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Pipeline #3345 passed
......@@ -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)
......
......@@ -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; }
......
......@@ -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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