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());
         }
     }
 }
-- 
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