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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
d1eaaa5b
Commit
d1eaaa5b
authored
6 years ago
by
Joaquim Casals Buñuel
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Fixed tests to accomodate new solver debugging utilities
parent
39cd6632
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Pipeline
#3345
passed
6 years ago
Stage: build
Changes
3
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1
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3 changed files
test/gtest_problem.cpp
+4
-0
4 additions, 0 deletions
test/gtest_problem.cpp
test/gtest_solver_manager.cpp
+4
-2
4 additions, 2 deletions
test/gtest_solver_manager.cpp
test/gtest_trajectory.cpp
+4
-0
4 additions, 0 deletions
test/gtest_trajectory.cpp
with
12 additions
and
2 deletions
test/gtest_problem.cpp
+
4
−
0
View file @
d1eaaa5b
...
...
@@ -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
)
...
...
This diff is collapsed.
Click to expand it.
test/gtest_solver_manager.cpp
+
4
−
2
View file @
d1eaaa5b
...
...
@@ -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
;
}
...
...
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test/gtest_trajectory.cpp
+
4
−
0
View file @
d1eaaa5b
...
...
@@ -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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