Resolve "Revisit demos (formerly called examples) and update them"

Closes #209 (closed)

test/gtest_map_yaml.cpp

@@ -237,35 +237,51 @@ TEST(MapYaml, load_3D)
     ASSERT_EQ(problem->getMap()->getLandmarkList().size(), 3);
 
     for (auto lmk : problem->getMap()->getLandmarkList())
+    {
+        if (lmk->id() == 1)
         {
-            if (lmk->id() == 1)
-            {
-                ASSERT_TRUE(lmk->getP() != nullptr);
-                ASSERT_TRUE(lmk->getO() == nullptr);
-                ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<1,2,3).finished(), 1e-12);
-                ASSERT_FALSE(lmk->getP()->isFixed());
-            }
-            else if (lmk->id() == 2)
-            {
-                ASSERT_TRUE(lmk->getP() != nullptr);
-                ASSERT_TRUE(lmk->getO() != nullptr);
-                ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<4,5,6).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->getO()->isFixed());
-                // TODO check if localparameterization of type quaternion
-            }
-            else if (lmk->id() == 3)
-            {
-                ASSERT_TRUE(lmk->getP() != nullptr);
-                ASSERT_TRUE(lmk->getO() != nullptr);
-                ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<7,8,9).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->getO()->isFixed());
-                // TODO check if localparameterization of type quaternion
-            }
+            ASSERT_TRUE(lmk->getP() != nullptr);
+            ASSERT_TRUE(lmk->getO() == nullptr);
+            ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<1,2,3).finished(), 1e-12);
+            ASSERT_FALSE(lmk->getP()->isFixed());
         }
+        else if (lmk->id() == 2)
+        {
+            ASSERT_TRUE(lmk->getP() != nullptr);
+            ASSERT_TRUE(lmk->getO() != nullptr);
+            ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<4,5,6).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->getO()->isFixed());
+            // TODO check if localparameterization of type quaternion
+        }
+        else if (lmk->id() == 3)
+        {
+            ASSERT_TRUE(lmk->getP() != nullptr);
+            ASSERT_TRUE(lmk->getO() != nullptr);
+            ASSERT_MATRIX_APPROX(lmk->getP()->getState(), (Eigen::Vector3s()<<7,8,9).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->getO()->isFixed());
+            // TODO check if localparameterization of type quaternion
+        }
+    }
+}
+
+
+TEST(MapYaml, remove_map_files)
+{
+    std::string wolf_root = _WOLF_ROOT_DIR;
+    std::string map_path  = wolf_root + "/test/yaml";
+
+    std::string filename  = map_path + "/map_2D_problem.yaml";
+    ASSERT_TRUE(std::remove(filename.c_str()) == 0);
+    filename  = map_path + "/map_2D_map.yaml";
+    ASSERT_TRUE(std::remove(filename.c_str()) == 0);
+    filename  = map_path + "/map_3D_problem.yaml";
+    ASSERT_TRUE(std::remove(filename.c_str()) == 0);
+    filename  = map_path + "/map_3D_map.yaml";
+    ASSERT_TRUE(std::remove(filename.c_str()) == 0);
 }
 
 int main(int argc, char **argv)