From d9d59b5af8ecb7e77b666193ffce20f48bcefa49 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu> Date: Tue, 28 May 2019 12:35:03 +0200 Subject: [PATCH] check for haslocalparameterization added --- test/gtest_map_yaml.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/test/gtest_map_yaml.cpp b/test/gtest_map_yaml.cpp index a9d843c55..60ac575e2 100644 --- a/test/gtest_map_yaml.cpp +++ b/test/gtest_map_yaml.cpp @@ -12,6 +12,7 @@ #include "core/landmark/landmark_base.h" #include "core/state_block/state_block.h" #include "core/state_block/state_quaternion.h" +#include "core/state_block/local_parametrization_quaternion.h" #include "core/yaml/yaml_conversion.h" #include <iostream> @@ -207,7 +208,7 @@ TEST(MapYaml, load_3D) ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,1,0,0).finished(), 1e-12); ASSERT_FALSE(lmk->getP()->isFixed()); ASSERT_FALSE(lmk->getO()->isFixed()); - // TODO check if localparameterization of type quaternion + ASSERT_TRUE(lmk->getO()->hasLocalParametrization()); } else if (lmk->id() == 3) { @@ -217,7 +218,7 @@ TEST(MapYaml, load_3D) ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,0,1,0).finished(), 1e-12); ASSERT_TRUE(lmk->getP()->isFixed()); ASSERT_TRUE(lmk->getO()->isFixed()); - // TODO check if localparameterization of type quaternion + ASSERT_TRUE(lmk->getO()->hasLocalParametrization()); } } @@ -253,7 +254,7 @@ TEST(MapYaml, load_3D) ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,1,0,0).finished(), 1e-12); ASSERT_FALSE(lmk->getP()->isFixed()); ASSERT_FALSE(lmk->getO()->isFixed()); - // TODO check if localparameterization of type quaternion + ASSERT_TRUE(lmk->getO()->hasLocalParametrization()); } else if (lmk->id() == 3) { @@ -263,7 +264,7 @@ TEST(MapYaml, load_3D) ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,0,1,0).finished(), 1e-12); ASSERT_TRUE(lmk->getP()->isFixed()); ASSERT_TRUE(lmk->getO()->isFixed()); - // TODO check if localparameterization of type quaternion + ASSERT_TRUE(lmk->getO()->hasLocalParametrization()); } } } -- GitLab