testVariableSlots.cpp

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */
 
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/TestableAssertions.h>
 
#include <gtsam/inference/VariableSlots.h>
#include <gtsam/symbolic/SymbolicFactorGraph.h>
 
using namespace gtsam;
using namespace std;
 
/* ************************************************************************* */
TEST(VariableSlots, constructor) {
 
  SymbolicFactorGraph fg;
  fg.push_factor(2, 3);
  fg.push_factor(0, 1);
  fg.push_factor(0, 2);
  fg.push_factor(5, 9);
 
  VariableSlots actual(fg);
 
  static const size_t none = numeric_limits<size_t>::max();
  VariableSlots expected((SymbolicFactorGraph()));
  expected[0] = {none, 0, 0, none};
  expected[1] = {none, 1, none, none};
  expected[2] = {0, none, 1, none};
  expected[3] = {1, none, none, none};
  expected[5] = {none, none, none, 0};
  expected[9] = {none, none, none, 1};
 
  CHECK(assert_equal(expected, actual));
}
 
/* ************************************************************************* */
int main() {
  TestResult tr;
  return TestRegistry::runAllTests(tr);
}
/* ************************************************************************* */