From f72c92d4181c1f57265cf2a5cf2c720798ba5637 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 21 Dec 2020 21:06:04 +0100
Subject: [PATCH] Fix conditions for Capture::move()
---
src/capture/capture_base.cpp | 6 ++----
test/gtest_capture_base.cpp | 24 +++++++++++++++++++++++-
2 files changed, 25 insertions(+), 5 deletions(-)
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index 03bc1c480..957ed68d0 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -177,11 +177,9 @@ void CaptureBase::unfix()
void CaptureBase::move(FrameBasePtr _frm_ptr)
{
- WOLF_WARN_COND(this->getFrame() == nullptr, "moving a capture not linked to any frame. Consider just linking it with link() instead of move()!");
+ WOLF_WARN_COND(this->getFrame() == nullptr, "Moving Capture ", id(), " at ts=", getTimeStamp(), " not linked to any frame. Consider just linking it with link() instead of move()!");
- assert((this->getFrame() == nullptr || not this->getFrame()->getProblem()) && "Forbidden: moving a capture already linked to a KF");
- assert((_frm_ptr != nullptr) && "Forbidden: moving a capture to a null frame");
- assert((_frm_ptr != nullptr && _frm_ptr->getProblem()) && "Forbidden: moving a capture to a non-estimated frame");
+ assert((this->getFrame() == nullptr || not this->getFrame()->getProblem()) && "Forbidden: trying to move a capture already linked to a KF!");
// Unlink
if (this->getFrame())
diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index d114c7441..3a0cbc455 100644
--- a/test/gtest_capture_base.cpp
+++ b/test/gtest_capture_base.cpp
@@ -119,6 +119,7 @@ TEST(CaptureBase, move_from_F_to_KF)
ASSERT_EQ(KF->getCaptureList().size(), 2);
ASSERT_EQ(F->getCaptureList().size(), 0);
+ ASSERT_TRUE(C->getProblem());
}
TEST(CaptureBase, move_from_F_to_null)
@@ -133,7 +134,10 @@ TEST(CaptureBase, move_from_F_to_null)
ASSERT_EQ(F->getCaptureList().size(), 1);
- ASSERT_DEATH( C->move(F0), "");
+ C->move(F0);
+
+ ASSERT_EQ(F->getCaptureList().size(), 0);
+ ASSERT_FALSE(C->getProblem());
}
TEST(CaptureBase, move_from_null_to_KF)
@@ -151,6 +155,7 @@ TEST(CaptureBase, move_from_null_to_KF)
C->move(KF);
ASSERT_EQ(KF->getCaptureList().size(), 2);
+ ASSERT_TRUE(C->getProblem());
}
TEST(CaptureBase, move_from_null_to_F)
@@ -161,6 +166,23 @@ TEST(CaptureBase, move_from_null_to_F)
auto C = std::make_shared<CaptureBase>("Dummy", 0.0);
+ C->move(F);
+
+ ASSERT_EQ(F->getCaptureList().size(), 1);
+
+ ASSERT_FALSE(C->getProblem());
+}
+
+TEST(CaptureBase, move_from_KF_to_F)
+{
+ ProblemPtr problem = Problem::create("PO", 2);
+
+ auto KF = problem->emplaceFrame(0.0); // dummy F object
+
+ auto F = std::make_shared<FrameBase>(0.0, nullptr); // dummy F object
+
+ auto C = CaptureBase::emplace<CaptureBase>(KF, "Dummy", 0.0);
+
ASSERT_DEATH(C->move(F), "");
}
--
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