diff --git a/CMakeLists.txt b/CMakeLists.txt index 4a268f3ec0f5f08af9dd80a6cb2f84e2170dc172..38eb02c21cd954fd5c5790ff9f94d63a5198a735 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -223,8 +223,6 @@ SET(HDRS_FACTOR include/core/factor/factor_base.h include/core/factor/factor_block_absolute.h include/core/factor/factor_diff_drive.h - include/core/factor/factor_feature_dummy.h - include/core/factor/factor_landmark_dummy.h include/core/factor/factor_odom_2D.h include/core/factor/factor_odom_2D_analytic.h include/core/factor/factor_odom_3D.h @@ -260,9 +258,7 @@ SET(HDRS_PROCESSOR include/core/processor/processor_odom_3D.h include/core/processor/processor_tracker.h include/core/processor/processor_tracker_feature.h - include/core/processor/processor_tracker_feature_dummy.h include/core/processor/processor_tracker_landmark.h - include/core/processor/processor_tracker_landmark_dummy.h include/core/processor/track_matrix.h ) SET(HDRS_SENSOR @@ -289,6 +285,9 @@ SET(HDRS_YAML include/core/yaml/parser_yaml.hpp include/core/yaml/yaml_conversion.h ) +SET(HDRS_DUMMY + test/dummy/factor_feature_dummy.h + ) #SOURCES SET(SRCS_PROBLEM src/problem/problem.cpp @@ -354,9 +353,7 @@ SET(SRCS_PROCESSOR src/processor/processor_odom_3D.cpp src/processor/processor_tracker.cpp src/processor/processor_tracker_feature.cpp - src/processor/processor_tracker_feature_dummy.cpp src/processor/processor_tracker_landmark.cpp - src/processor/processor_tracker_landmark_dummy.cpp src/processor/track_matrix.cpp ) SET(SRCS_SENSOR @@ -516,6 +513,8 @@ INSTALL(FILES ${HDRS_SERIALIZATION} DESTINATION include/iri-algorithms/wolf/plugin_core/core/serialization) INSTALL(FILES ${HDRS_YAML} DESTINATION include/iri-algorithms/wolf/plugin_core/core/yaml) +INSTALL(FILES ${HDRS_DUMMY} + DESTINATION include/iri-algorithms/wolf/plugin_core/core/dummy) FILE(WRITE ${PROJECT_NAME}.found "") INSTALL(FILES ${PROJECT_NAME}.found diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index f4d96771cf0b3b1c7d8be66202d129296bb02daf..2d5f40fb25c86c6f5642848487375108fc040322 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -28,11 +28,14 @@ include_directories(${GTEST_INCLUDE_DIRS}) # # # Create a specific test executable for gtest_example # wolf_add_gtest(gtest_example gtest_example.cpp) # -target_link_libraries(gtest_example ${PROJECT_NAME}) # +target_link_libraries(gtest_example ${PROJECT_NAME} dummy) # # # ########################################################### - - +set(SRC_DUMMY + dummy/processor_tracker_feature_dummy.cpp + dummy/processor_tracker_landmark_dummy.cpp + ) +add_library(dummy ${SRC_DUMMY}) ################# ADD YOUR TESTS BELOW #################### # # # ==== IN ALPHABETICAL ORDER! ==== # @@ -42,71 +45,71 @@ target_link_libraries(gtest_example ${PROJECT_NAME}) # # CaptureBase class test wolf_add_gtest(gtest_capture_base gtest_capture_base.cpp) -target_link_libraries(gtest_capture_base ${PROJECT_NAME}) +target_link_libraries(gtest_capture_base ${PROJECT_NAME} dummy) # CaptureBase class test #wolf_add_gtest(gtest_factor_sparse gtest_factor_sparse.cpp) -#target_link_libraries(gtest_factor_sparse ${PROJECT_NAME}) +#target_link_libraries(gtest_factor_sparse ${PROJECT_NAME} dummy) # FactorAutodiff class test wolf_add_gtest(gtest_factor_autodiff gtest_factor_autodiff.cpp) -target_link_libraries(gtest_factor_autodiff ${PROJECT_NAME}) +target_link_libraries(gtest_factor_autodiff ${PROJECT_NAME} dummy) # Converter from String to various types used by the parameters server wolf_add_gtest(gtest_converter gtest_converter.cpp) -target_link_libraries(gtest_converter ${PROJECT_NAME}) +target_link_libraries(gtest_converter ${PROJECT_NAME} dummy) # FeatureBase classes test wolf_add_gtest(gtest_eigen_predicates gtest_eigen_predicates.cpp) -target_link_libraries(gtest_eigen_predicates ${PROJECT_NAME}) +target_link_libraries(gtest_eigen_predicates ${PROJECT_NAME} dummy) # Node Emplace test wolf_add_gtest(gtest_emplace gtest_emplace.cpp) -target_link_libraries(gtest_emplace ${PROJECT_NAME}) +target_link_libraries(gtest_emplace ${PROJECT_NAME} dummy) # FeatureBase classes test wolf_add_gtest(gtest_feature_base gtest_feature_base.cpp) -target_link_libraries(gtest_feature_base ${PROJECT_NAME}) +target_link_libraries(gtest_feature_base ${PROJECT_NAME} dummy) # FrameBase classes test wolf_add_gtest(gtest_frame_base gtest_frame_base.cpp) -target_link_libraries(gtest_frame_base ${PROJECT_NAME}) +target_link_libraries(gtest_frame_base ${PROJECT_NAME} dummy) # LocalParametrizationXxx classes test wolf_add_gtest(gtest_local_param gtest_local_param.cpp) -target_link_libraries(gtest_local_param ${PROJECT_NAME}) +target_link_libraries(gtest_local_param ${PROJECT_NAME} dummy) # Logging test wolf_add_gtest(gtest_logging gtest_logging.cpp) -target_link_libraries(gtest_logging ${PROJECT_NAME}) +target_link_libraries(gtest_logging ${PROJECT_NAME} dummy) # MotionBuffer class test wolf_add_gtest(gtest_motion_buffer gtest_motion_buffer.cpp) -target_link_libraries(gtest_motion_buffer ${PROJECT_NAME}) +target_link_libraries(gtest_motion_buffer ${PROJECT_NAME} dummy) # PackKFBuffer wolf_add_gtest(gtest_pack_KF_buffer gtest_pack_KF_buffer.cpp) -target_link_libraries(gtest_pack_KF_buffer ${PROJECT_NAME}) +target_link_libraries(gtest_pack_KF_buffer ${PROJECT_NAME} dummy) # Parameters server wolf_add_gtest(gtest_param_server gtest_param_server.cpp ${CMAKE_CURRENT_LIST_DIR}) -target_link_libraries(gtest_param_server ${PROJECT_NAME}) +target_link_libraries(gtest_param_server ${PROJECT_NAME} dummy) # YAML parser wolf_add_gtest(gtest_parser_yaml gtest_parser_yaml.cpp) -target_link_libraries(gtest_parser_yaml ${PROJECT_NAME}) +target_link_libraries(gtest_parser_yaml ${PROJECT_NAME} dummy) # Problem class test wolf_add_gtest(gtest_problem gtest_problem.cpp) -target_link_libraries(gtest_problem ${PROJECT_NAME}) +target_link_libraries(gtest_problem ${PROJECT_NAME} dummy) # ProcessorBase class test wolf_add_gtest(gtest_processor_base gtest_processor_base.cpp) -target_link_libraries(gtest_processor_base ${PROJECT_NAME}) +target_link_libraries(gtest_processor_base ${PROJECT_NAME} dummy) # ProcessorMotion class test wolf_add_gtest(gtest_processor_motion gtest_processor_motion.cpp) -target_link_libraries(gtest_processor_motion ${PROJECT_NAME}) +target_link_libraries(gtest_processor_motion ${PROJECT_NAME} dummy) # Rotation test wolf_add_gtest(gtest_rotation gtest_rotation.cpp) @@ -116,91 +119,95 @@ wolf_add_gtest(gtest_SE3 gtest_SE3.cpp) # SensorBase test wolf_add_gtest(gtest_sensor_base gtest_sensor_base.cpp) -target_link_libraries(gtest_sensor_base ${PROJECT_NAME}) +target_link_libraries(gtest_sensor_base ${PROJECT_NAME} dummy) # shared_from_this test wolf_add_gtest(gtest_shared_from_this gtest_shared_from_this.cpp) -target_link_libraries(gtest_shared_from_this ${PROJECT_NAME}) +target_link_libraries(gtest_shared_from_this ${PROJECT_NAME} dummy) # SolverManager test wolf_add_gtest(gtest_solver_manager gtest_solver_manager.cpp) -target_link_libraries(gtest_solver_manager ${PROJECT_NAME}) +target_link_libraries(gtest_solver_manager ${PROJECT_NAME} dummy) # TimeStamp class test wolf_add_gtest(gtest_time_stamp gtest_time_stamp.cpp) -target_link_libraries(gtest_time_stamp ${PROJECT_NAME}) +target_link_libraries(gtest_time_stamp ${PROJECT_NAME} dummy) # TrackMatrix class test wolf_add_gtest(gtest_track_matrix gtest_track_matrix.cpp) -target_link_libraries(gtest_track_matrix ${PROJECT_NAME}) +target_link_libraries(gtest_track_matrix ${PROJECT_NAME} dummy) # TrajectoryBase class test wolf_add_gtest(gtest_trajectory gtest_trajectory.cpp) -target_link_libraries(gtest_trajectory ${PROJECT_NAME}) +target_link_libraries(gtest_trajectory ${PROJECT_NAME} dummy) # ------- Now Derived classes ---------- IF (Ceres_FOUND) # CeresManager test wolf_add_gtest(gtest_ceres_manager gtest_ceres_manager.cpp) -target_link_libraries(gtest_ceres_manager ${PROJECT_NAME}) +target_link_libraries(gtest_ceres_manager ${PROJECT_NAME} dummy) ENDIF(Ceres_FOUND) # FactorAbs(P/O/V) classes test wolf_add_gtest(gtest_factor_absolute gtest_factor_absolute.cpp) -target_link_libraries(gtest_factor_absolute ${PROJECT_NAME}) +target_link_libraries(gtest_factor_absolute ${PROJECT_NAME} dummy) # FactorAutodiffDistance3D test wolf_add_gtest(gtest_factor_autodiff_distance_3D gtest_factor_autodiff_distance_3D.cpp) -target_link_libraries(gtest_factor_autodiff_distance_3D ${PROJECT_NAME}) +target_link_libraries(gtest_factor_autodiff_distance_3D ${PROJECT_NAME} dummy) # FactorOdom3D class test wolf_add_gtest(gtest_factor_odom_3D gtest_factor_odom_3D.cpp) -target_link_libraries(gtest_factor_odom_3D ${PROJECT_NAME}) +target_link_libraries(gtest_factor_odom_3D ${PROJECT_NAME} dummy) # FactorPose2D class test wolf_add_gtest(gtest_factor_pose_2D gtest_factor_pose_2D.cpp) -target_link_libraries(gtest_factor_pose_2D ${PROJECT_NAME}) +target_link_libraries(gtest_factor_pose_2D ${PROJECT_NAME} dummy) # FactorPose3D class test wolf_add_gtest(gtest_factor_pose_3D gtest_factor_pose_3D.cpp) -target_link_libraries(gtest_factor_pose_3D ${PROJECT_NAME}) +target_link_libraries(gtest_factor_pose_3D ${PROJECT_NAME} dummy) # MakePosDef function test wolf_add_gtest(gtest_make_posdef gtest_make_posdef.cpp) -target_link_libraries(gtest_make_posdef ${PROJECT_NAME}) +target_link_libraries(gtest_make_posdef ${PROJECT_NAME} dummy) # Map yaml save/load test wolf_add_gtest(gtest_map_yaml gtest_map_yaml.cpp) -target_link_libraries(gtest_map_yaml ${PROJECT_NAME}) +target_link_libraries(gtest_map_yaml ${PROJECT_NAME} dummy) # Parameter prior test wolf_add_gtest(gtest_param_prior gtest_param_prior.cpp) -target_link_libraries(gtest_param_prior ${PROJECT_NAME}) +target_link_libraries(gtest_param_prior ${PROJECT_NAME} dummy) # ProcessorLoopClosureBase class test wolf_add_gtest(gtest_processor_loopclosure gtest_processor_loopclosure.cpp) -target_link_libraries(gtest_processor_loopclosure ${PROJECT_NAME}) +target_link_libraries(gtest_processor_loopclosure ${PROJECT_NAME} dummy) + +# ProcessorFrameNearestNeighborFilter class test +# wolf_add_gtest(gtest_processor_frame_nearest_neighbor_filter_2D gtest_processor_frame_nearest_neighbor_filter_2D.cpp) +# target_link_libraries(gtest_processor_frame_nearest_neighbor_filter_2D ${PROJECT_NAME} dummy) # ProcessorMotion in 2D wolf_add_gtest(gtest_odom_2D gtest_odom_2D.cpp) -target_link_libraries(gtest_odom_2D ${PROJECT_NAME}) +target_link_libraries(gtest_odom_2D ${PROJECT_NAME} dummy) # ProcessorOdom3D class test wolf_add_gtest(gtest_processor_odom_3D gtest_processor_odom_3D.cpp) -target_link_libraries(gtest_processor_odom_3D ${PROJECT_NAME}) +target_link_libraries(gtest_processor_odom_3D ${PROJECT_NAME} dummy) # ProcessorTrackerFeatureDummy class test wolf_add_gtest(gtest_processor_tracker_feature_dummy gtest_processor_tracker_feature_dummy.cpp) -target_link_libraries(gtest_processor_tracker_feature_dummy ${PROJECT_NAME}) +target_link_libraries(gtest_processor_tracker_feature_dummy ${PROJECT_NAME} dummy) # ProcessorTrackerLandmarkDummy class test wolf_add_gtest(gtest_processor_tracker_landmark_dummy gtest_processor_tracker_landmark_dummy.cpp) -target_link_libraries(gtest_processor_tracker_landmark_dummy ${PROJECT_NAME}) +target_link_libraries(gtest_processor_tracker_landmark_dummy ${PROJECT_NAME} dummy) # yaml conversions wolf_add_gtest(gtest_yaml_conversions gtest_yaml_conversions.cpp) -target_link_libraries(gtest_yaml_conversions ${PROJECT_NAME}) +target_link_libraries(gtest_yaml_conversions ${PROJECT_NAME} dummy) # ------- Now Core classes Serialization ---------- diff --git a/include/core/factor/factor_feature_dummy.h b/test/dummy/factor_feature_dummy.h similarity index 100% rename from include/core/factor/factor_feature_dummy.h rename to test/dummy/factor_feature_dummy.h diff --git a/include/core/factor/factor_landmark_dummy.h b/test/dummy/factor_landmark_dummy.h similarity index 100% rename from include/core/factor/factor_landmark_dummy.h rename to test/dummy/factor_landmark_dummy.h diff --git a/src/processor/processor_tracker_feature_dummy.cpp b/test/dummy/processor_tracker_feature_dummy.cpp similarity index 98% rename from src/processor/processor_tracker_feature_dummy.cpp rename to test/dummy/processor_tracker_feature_dummy.cpp index 48838b3cda114b17cf0ce840b16983534fb7d258..0222ebb5f8cb91bea365c0d3c8249c4392c4a248 100644 --- a/src/processor/processor_tracker_feature_dummy.cpp +++ b/test/dummy/processor_tracker_feature_dummy.cpp @@ -5,7 +5,7 @@ * \author: jvallve */ -#include "core/processor/processor_tracker_feature_dummy.h" +#include "processor_tracker_feature_dummy.h" #include "core/feature/feature_base.h" namespace wolf diff --git a/include/core/processor/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h similarity index 99% rename from include/core/processor/processor_tracker_feature_dummy.h rename to test/dummy/processor_tracker_feature_dummy.h index 007207cecb59a4d5028bfe5f1b0e205a0b0726b8..3621ce3017d8a362c999f9376908ab4e0445b910 100644 --- a/include/core/processor/processor_tracker_feature_dummy.h +++ b/test/dummy/processor_tracker_feature_dummy.h @@ -10,7 +10,7 @@ #include "core/common/wolf.h" #include "core/processor/processor_tracker_feature.h" -#include "core/factor/factor_feature_dummy.h" +#include "factor_feature_dummy.h" namespace wolf { diff --git a/src/processor/processor_tracker_landmark_dummy.cpp b/test/dummy/processor_tracker_landmark_dummy.cpp similarity index 97% rename from src/processor/processor_tracker_landmark_dummy.cpp rename to test/dummy/processor_tracker_landmark_dummy.cpp index 422e778279f605a01fddbaa67b10baab5f4de92d..dd1147fdc1a09b60059bc69047adb46ba24ae16f 100644 --- a/src/processor/processor_tracker_landmark_dummy.cpp +++ b/test/dummy/processor_tracker_landmark_dummy.cpp @@ -5,9 +5,9 @@ * \author: jvallve */ -#include "core/processor/processor_tracker_landmark_dummy.h" +#include "processor_tracker_landmark_dummy.h" #include "core/landmark/landmark_base.h" -#include "core/factor/factor_landmark_dummy.h" +#include "factor_landmark_dummy.h" namespace wolf { diff --git a/include/core/processor/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h similarity index 100% rename from include/core/processor/processor_tracker_landmark_dummy.h rename to test/dummy/processor_tracker_landmark_dummy.h diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp index cf6ae9004d91a009c87768373f5974c27c879086..7e32bf8fad08c13274168d176c8767c51f642ae7 100644 --- a/test/gtest_emplace.cpp +++ b/test/gtest_emplace.cpp @@ -15,7 +15,7 @@ #include "core/processor/processor_odom_3D.h" #include "core/processor/processor_odom_2D.h" #include "core/feature/feature_odom_2D.h" -#include "core/processor/processor_tracker_feature_dummy.h" +#include "dummy/processor_tracker_feature_dummy.h" #include <iostream> diff --git a/test/gtest_pack_KF_buffer.cpp b/test/gtest_pack_KF_buffer.cpp index 1b1f1ffb61ded8028dfbe7814f6f813f76793334..be1c74dc9631c219f3e84893b46bc135b036189e 100644 --- a/test/gtest_pack_KF_buffer.cpp +++ b/test/gtest_pack_KF_buffer.cpp @@ -10,7 +10,7 @@ #include "core/processor/processor_odom_2D.h" #include "core/sensor/sensor_odom_2D.h" -#include "core/processor/processor_tracker_feature_dummy.h" +#include "dummy/processor_tracker_feature_dummy.h" #include "core/capture/capture_void.h" #include "core/problem/problem.h" diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp index 7570f6c1870274ac8315b57468fff1da9e7b7be5..9ec12ff698906851acfc49b033242bea5df78317 100644 --- a/test/gtest_problem.cpp +++ b/test/gtest_problem.cpp @@ -13,7 +13,7 @@ #include "core/sensor/sensor_odom_2D.h" #include "core/sensor/sensor_odom_3D.h" #include "core/processor/processor_odom_3D.h" -#include "core/processor/processor_tracker_feature_dummy.h" +#include "dummy/processor_tracker_feature_dummy.h" #include "core/solver/solver_manager.h" #include <iostream> diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp index d4e4f082be12c5a39ecf79e5fbb184a0f6777182..8a3f4e8954034801647224581abf7f9a27e381ab 100644 --- a/test/gtest_processor_base.cpp +++ b/test/gtest_processor_base.cpp @@ -11,7 +11,7 @@ #include "core/processor/processor_odom_2D.h" #include "core/sensor/sensor_odom_2D.h" -#include "core/processor/processor_tracker_feature_dummy.h" +#include "dummy/processor_tracker_feature_dummy.h" #include "core/capture/capture_void.h" #include "core/problem/problem.h" diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp index ea169fcf994feeb624f88e718e94265aa4fbdb10..31dee4670b60e286a55ea315a8a1507338b3022d 100644 --- a/test/gtest_processor_tracker_feature_dummy.cpp +++ b/test/gtest_processor_tracker_feature_dummy.cpp @@ -2,7 +2,7 @@ // wolf includes #include "core/utils/utils_gtest.h" #include "core/sensor/sensor_factory.h" -#include "core/processor/processor_tracker_feature_dummy.h" +#include "dummy/processor_tracker_feature_dummy.h" #include "core/capture/capture_void.h" using namespace wolf; diff --git a/test/gtest_processor_tracker_landmark_dummy.cpp b/test/gtest_processor_tracker_landmark_dummy.cpp index 8ed266881c29e43a29836eac706ec0dd9c96f19e..779ac7de285105263ae1214e0e61463e311983e5 100644 --- a/test/gtest_processor_tracker_landmark_dummy.cpp +++ b/test/gtest_processor_tracker_landmark_dummy.cpp @@ -2,7 +2,7 @@ // wolf includes #include "core/utils/utils_gtest.h" #include "core/sensor/sensor_factory.h" -#include "core/processor/processor_tracker_landmark_dummy.h" +#include "dummy/processor_tracker_landmark_dummy.h" #include "core/capture/capture_void.h" using namespace wolf;