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Commit d9d59b5a authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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check for haslocalparameterization added

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1 merge request!278Resolve "Revisit demos (formerly called examples) and update them"
This commit is part of merge request !278. Comments created here will be created in the context of that merge request.
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test/gtest_map_yaml.cpp
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...@@ -12,6 +12,7 @@ ...@@ -12,6 +12,7 @@
#include "core/landmark/landmark_base.h" #include "core/landmark/landmark_base.h"
#include "core/state_block/state_block.h" #include "core/state_block/state_block.h"
#include "core/state_block/state_quaternion.h" #include "core/state_block/state_quaternion.h"
#include "core/state_block/local_parametrization_quaternion.h"
#include "core/yaml/yaml_conversion.h" #include "core/yaml/yaml_conversion.h"
#include <iostream> #include <iostream>
...@@ -207,7 +208,7 @@ TEST(MapYaml, load_3D) ...@@ -207,7 +208,7 @@ TEST(MapYaml, load_3D)
ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,1,0,0).finished(), 1e-12); ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,1,0,0).finished(), 1e-12);
ASSERT_FALSE(lmk->getP()->isFixed()); ASSERT_FALSE(lmk->getP()->isFixed());
ASSERT_FALSE(lmk->getO()->isFixed()); ASSERT_FALSE(lmk->getO()->isFixed());
// TODO check if localparameterization of type quaternion ASSERT_TRUE(lmk->getO()->hasLocalParametrization());
} }
else if (lmk->id() == 3) else if (lmk->id() == 3)
{ {
...@@ -217,7 +218,7 @@ TEST(MapYaml, load_3D) ...@@ -217,7 +218,7 @@ TEST(MapYaml, load_3D)
ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,0,1,0).finished(), 1e-12); ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,0,1,0).finished(), 1e-12);
ASSERT_TRUE(lmk->getP()->isFixed()); ASSERT_TRUE(lmk->getP()->isFixed());
ASSERT_TRUE(lmk->getO()->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) ...@@ -253,7 +254,7 @@ TEST(MapYaml, load_3D)
ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,1,0,0).finished(), 1e-12); ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,1,0,0).finished(), 1e-12);
ASSERT_FALSE(lmk->getP()->isFixed()); ASSERT_FALSE(lmk->getP()->isFixed());
ASSERT_FALSE(lmk->getO()->isFixed()); ASSERT_FALSE(lmk->getO()->isFixed());
// TODO check if localparameterization of type quaternion ASSERT_TRUE(lmk->getO()->hasLocalParametrization());
} }
else if (lmk->id() == 3) else if (lmk->id() == 3)
{ {
...@@ -263,7 +264,7 @@ TEST(MapYaml, load_3D) ...@@ -263,7 +264,7 @@ TEST(MapYaml, load_3D)
ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,0,1,0).finished(), 1e-12); ASSERT_MATRIX_APPROX(lmk->getO()->getState(), (Eigen::Vector4s()<<0,0,1,0).finished(), 1e-12);
ASSERT_TRUE(lmk->getP()->isFixed()); ASSERT_TRUE(lmk->getP()->isFixed());
ASSERT_TRUE(lmk->getO()->isFixed()); ASSERT_TRUE(lmk->getO()->isFixed());
// TODO check if localparameterization of type quaternion ASSERT_TRUE(lmk->getO()->hasLocalParametrization());
} }
} }
} }
......
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