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mv partial pose test to partial pose file #684

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Jul 20, 2023
Merged

mv partial pose test to partial pose file #684

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18 changes: 18 additions & 0 deletions test/testPartialPose3.jl
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Expand Up @@ -12,6 +12,24 @@ using Rotations

##


@testset "Test (partial) priors on Pose3" begin
## there was a problem with partials and staticarrays where asigning PriorPoint3 to Pose3 stopped working, here is an explicit test

fg = initfg()
getSolverParams(fg).graphinit = false

addVariable!(fg, :x0, Pose3)

mv3 = MvNormal(SA[0.0; 0.0; 0.0], SMatrix{3,3}(1,0,0,0,1,0,0,0,1.))
f = addFactor!(fg, [:x0;], PriorPoint3(mv3))

approxConvBelief(fg, getLabel(f), :x0)

##
end


@testset "Testing basic PriorPose3ZRP" begin
##

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15 changes: 0 additions & 15 deletions test/testPose3.jl
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Expand Up @@ -21,21 +21,6 @@ C_ = homography_to_coordinates(M, H)
##
end

@testset "Test (partial) priors on Pose3" begin
## there was a problem with partials and staticarrays where asigning PriorPoint3 to Pose3 stopped working, here is an explicit test

fg = initfg()
getSolverParams(fg).graphinit = false

addVariable!(fg, :x0, Pose3)

mv3 = MvNormal(SA[0.0; 0.0; 0.0], SMatrix{3,3}(1,0,0,0,1,0,0,0,1.))
f = addFactor!(fg, [:x0;], PriorPoint3(mv3))

approxConvBelief(fg, getLabel(f), :x0)

##
end

##
@testset "Test Basic Pose3 :parametric and :default" begin
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