From 2ae878a019ca05b11850c0f0bc0b4876a89f07c3 Mon Sep 17 00:00:00 2001 From: methylDragon Date: Wed, 7 Dec 2022 22:15:08 -0800 Subject: [PATCH] Update tests Signed-off-by: methylDragon --- fuse_constraints/CMakeLists.txt | 20 ++------ fuse_constraints/package.xml | 4 +- .../test/test_absolute_constraint.cpp | 6 --- ...lute_orientation_3d_stamped_constraint.cpp | 6 --- ...rientation_3d_stamped_euler_constraint.cpp | 6 --- ...st_absolute_pose_2d_stamped_constraint.cpp | 6 --- ...st_absolute_pose_3d_stamped_constraint.cpp | 42 +++++++--------- .../test/test_marginal_constraint.cpp | 6 --- .../test/test_marginalize_variables.cpp | 6 --- .../test/test_normal_delta_pose_2d.cpp | 6 --- .../test/test_normal_prior_pose_2d.cpp | 6 --- .../test/test_relative_constraint.cpp | 6 --- ...st_relative_pose_2d_stamped_constraint.cpp | 6 --- ...st_relative_pose_3d_stamped_constraint.cpp | 48 ++++++++----------- fuse_constraints/test/test_uuid_ordering.cpp | 6 --- .../test/test_variable_constraints.cpp | 6 --- 16 files changed, 46 insertions(+), 140 deletions(-) diff --git a/fuse_constraints/CMakeLists.txt b/fuse_constraints/CMakeLists.txt index b2a6a2790..946cbfa47 100644 --- a/fuse_constraints/CMakeLists.txt +++ b/fuse_constraints/CMakeLists.txt @@ -11,7 +11,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() -find_package(ament_cmake REQUIRED) +find_package(ament_cmake_ros REQUIRED) find_package(fuse_core REQUIRED) find_package(fuse_graphs REQUIRED) find_package(fuse_variables REQUIRED) @@ -31,7 +31,7 @@ include(suitesparse-extras.cmake) ########### # fuse_constraints library -add_library(${PROJECT_NAME} SHARED +add_library(${PROJECT_NAME} src/absolute_constraint.cpp src/absolute_orientation_3d_stamped_constraint.cpp src/absolute_orientation_3d_stamped_euler_constraint.cpp @@ -95,21 +95,11 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME} ) -install( - FILES fuse_plugins.xml - DESTINATION share/${PROJECT_NAME} -) - -find_package(ament_cmake REQUIRED) -find_package(fuse_core REQUIRED) -find_package(fuse_graphs REQUIRED) -find_package(fuse_variables REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(pluginlib REQUIRED) -find_package(rclcpp REQUIRED) +pluginlib_export_plugin_description_file(fuse_core fuse_plugins.xml) +ament_export_targets(${PROJECT_NAME}-export HAS_LIBRARY_TARGET) ament_export_dependencies( - ament_cmake + ament_cmake_ros fuse_core fuse_graphs fuse_variables diff --git a/fuse_constraints/package.xml b/fuse_constraints/package.xml index 13abf591c..76cd0c439 100644 --- a/fuse_constraints/package.xml +++ b/fuse_constraints/package.xml @@ -11,10 +11,10 @@ Stephen Williams - Stephen Williams BSD + Stephen Williams - ament_cmake + ament_cmake_ros eigen libceres-dev diff --git a/fuse_constraints/test/test_absolute_constraint.cpp b/fuse_constraints/test/test_absolute_constraint.cpp index e6df8909a..448227242 100644 --- a/fuse_constraints/test/test_absolute_constraint.cpp +++ b/fuse_constraints/test/test_absolute_constraint.cpp @@ -451,9 +451,3 @@ TEST(AbsoluteConstraint, Serialization) EXPECT_MATRIX_EQ(expected.mean(), actual.mean()); EXPECT_MATRIX_EQ(expected.sqrtInformation(), actual.sqrtInformation()); } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_absolute_orientation_3d_stamped_constraint.cpp b/fuse_constraints/test/test_absolute_orientation_3d_stamped_constraint.cpp index 09cb88fb8..24e3cc5e7 100644 --- a/fuse_constraints/test/test_absolute_orientation_3d_stamped_constraint.cpp +++ b/fuse_constraints/test/test_absolute_orientation_3d_stamped_constraint.cpp @@ -194,9 +194,3 @@ TEST(AbsoluteOrientation3DStampedConstraint, Serialization) EXPECT_MATRIX_EQ(expected.mean(), actual.mean()); EXPECT_MATRIX_EQ(expected.sqrtInformation(), actual.sqrtInformation()); } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_absolute_orientation_3d_stamped_euler_constraint.cpp b/fuse_constraints/test/test_absolute_orientation_3d_stamped_euler_constraint.cpp index b9388a378..5c81770d6 100644 --- a/fuse_constraints/test/test_absolute_orientation_3d_stamped_euler_constraint.cpp +++ b/fuse_constraints/test/test_absolute_orientation_3d_stamped_euler_constraint.cpp @@ -251,9 +251,3 @@ TEST(AbsoluteOrientation3DStampedEulerConstraint, Serialization) EXPECT_MATRIX_EQ(expected.mean(), actual.mean()); EXPECT_MATRIX_EQ(expected.sqrtInformation(), actual.sqrtInformation()); } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_absolute_pose_2d_stamped_constraint.cpp b/fuse_constraints/test/test_absolute_pose_2d_stamped_constraint.cpp index ed47067ec..8d3785070 100644 --- a/fuse_constraints/test/test_absolute_pose_2d_stamped_constraint.cpp +++ b/fuse_constraints/test/test_absolute_pose_2d_stamped_constraint.cpp @@ -309,9 +309,3 @@ TEST(AbsolutePose2DStampedConstraint, Serialization) EXPECT_MATRIX_EQ(expected.mean(), actual.mean()); EXPECT_MATRIX_EQ(expected.sqrtInformation(), actual.sqrtInformation()); } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_absolute_pose_3d_stamped_constraint.cpp b/fuse_constraints/test/test_absolute_pose_3d_stamped_constraint.cpp index 6b8a89c13..2e5ce89b1 100644 --- a/fuse_constraints/test/test_absolute_pose_3d_stamped_constraint.cpp +++ b/fuse_constraints/test/test_absolute_pose_3d_stamped_constraint.cpp @@ -63,12 +63,12 @@ TEST(AbsolutePose3DStampedConstraint, Constructor) // Generated PD matrix using Octave: R = rand(6, 6); A = R * R' (use format long g to get the required precision) fuse_core::Matrix6d cov; - cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, - 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, - 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, - 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, - 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, - 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; + cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, // NOLINT + 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, // NOLINT + 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, // NOLINT + 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, // NOLINT + 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, // NOLINT + 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; // NOLINT EXPECT_NO_THROW( AbsolutePose3DStampedConstraint constraint("test", position_variable, orientation_variable, mean, cov)); @@ -85,12 +85,12 @@ TEST(AbsolutePose3DStampedConstraint, Covariance) // Generated PD matrix using Octiave: R = rand(6, 6); A = R * R' (use format long g to get the required precision) fuse_core::Matrix6d cov; - cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, - 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, - 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, - 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, - 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, - 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; + cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, // NOLINT + 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, // NOLINT + 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, // NOLINT + 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, // NOLINT + 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, // NOLINT + 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; // NOLINT AbsolutePose3DStampedConstraint constraint("test", position_variable, orientation_variable, mean, cov); @@ -227,12 +227,12 @@ TEST(AbsolutePose3DStampedConstraint, Serialization) // Generated PD matrix using Octave: R = rand(6, 6); A = R * R' (use format long g to get the required precision) fuse_core::Matrix6d cov; - cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, - 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, - 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, - 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, - 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, - 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; + cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, // NOLINT + 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, // NOLINT + 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, // NOLINT + 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, // NOLINT + 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, // NOLINT + 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; // NOLINT AbsolutePose3DStampedConstraint expected("test", position_variable, orientation_variable, mean, cov); @@ -256,9 +256,3 @@ TEST(AbsolutePose3DStampedConstraint, Serialization) EXPECT_MATRIX_EQ(expected.mean(), actual.mean()); EXPECT_MATRIX_EQ(expected.sqrtInformation(), actual.sqrtInformation()); } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_marginal_constraint.cpp b/fuse_constraints/test/test_marginal_constraint.cpp index 6f3a2057c..e83314c4b 100644 --- a/fuse_constraints/test/test_marginal_constraint.cpp +++ b/fuse_constraints/test/test_marginal_constraint.cpp @@ -275,9 +275,3 @@ TEST(MarginalConstraint, Serialization) EXPECT_TRUE(static_cast(actual_derived)); } } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_marginalize_variables.cpp b/fuse_constraints/test/test_marginalize_variables.cpp index f7d021025..f41fd43fd 100644 --- a/fuse_constraints/test/test_marginalize_variables.cpp +++ b/fuse_constraints/test/test_marginalize_variables.cpp @@ -725,9 +725,3 @@ TEST(MarginalizeVariables, MarginalizeFixedVariables) EXPECT_NEAR(expected_x3_cov[i], actual_x3_cov[i], 1.0e-3); } } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_normal_delta_pose_2d.cpp b/fuse_constraints/test/test_normal_delta_pose_2d.cpp index eaf6193ff..4099ba6ce 100644 --- a/fuse_constraints/test/test_normal_delta_pose_2d.cpp +++ b/fuse_constraints/test/test_normal_delta_pose_2d.cpp @@ -138,9 +138,3 @@ TEST_F(NormalDeltaPose2DTestFixture, AnalyticAndAutoDiffCostFunctionsAreEqualFor ExpectCostFunctionsAreEqual(autodiff_cost_function, cost_function); } } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_normal_prior_pose_2d.cpp b/fuse_constraints/test/test_normal_prior_pose_2d.cpp index fd8fae281..1f94790d8 100644 --- a/fuse_constraints/test/test_normal_prior_pose_2d.cpp +++ b/fuse_constraints/test/test_normal_prior_pose_2d.cpp @@ -138,9 +138,3 @@ TEST_F(NormalPriorPose2DTestFixture, AnalyticAndAutoDiffCostFunctionsAreEqualFor ExpectCostFunctionsAreEqual(autodiff_cost_function, cost_function); } } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_relative_constraint.cpp b/fuse_constraints/test/test_relative_constraint.cpp index 9a70a2d86..b21bd9f71 100644 --- a/fuse_constraints/test/test_relative_constraint.cpp +++ b/fuse_constraints/test/test_relative_constraint.cpp @@ -522,9 +522,3 @@ TEST(RelativeConstraint, Serialization) EXPECT_MATRIX_EQ(expected.delta(), actual.delta()); EXPECT_MATRIX_EQ(expected.sqrtInformation(), actual.sqrtInformation()); } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_relative_pose_2d_stamped_constraint.cpp b/fuse_constraints/test/test_relative_pose_2d_stamped_constraint.cpp index 48f6e7e63..d7c8cc7df 100644 --- a/fuse_constraints/test/test_relative_pose_2d_stamped_constraint.cpp +++ b/fuse_constraints/test/test_relative_pose_2d_stamped_constraint.cpp @@ -467,9 +467,3 @@ TEST(RelativePose2DStampedConstraint, Serialization) EXPECT_MATRIX_EQ(expected.delta(), actual.delta()); EXPECT_MATRIX_EQ(expected.sqrtInformation(), actual.sqrtInformation()); } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_relative_pose_3d_stamped_constraint.cpp b/fuse_constraints/test/test_relative_pose_3d_stamped_constraint.cpp index 2f4492815..448d66cd2 100644 --- a/fuse_constraints/test/test_relative_pose_3d_stamped_constraint.cpp +++ b/fuse_constraints/test/test_relative_pose_3d_stamped_constraint.cpp @@ -67,12 +67,12 @@ TEST(RelativePose3DStampedConstraint, Constructor) // Generated PD matrix using Octave: R = rand(6, 6); A = R * R' (use format long g to get the required precision) fuse_core::Matrix6d cov; - cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, - 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, - 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, - 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, - 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, - 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; + cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, // NOLINT + 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, // NOLINT + 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, // NOLINT + 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, // NOLINT + 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, // NOLINT + 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; // NOLINT EXPECT_NO_THROW( RelativePose3DStampedConstraint constraint("test", position1, orientation1, position2, orientation2, delta, cov)); @@ -90,12 +90,12 @@ TEST(RelativePose3DStampedConstraint, Covariance) // Generated PD matrix using Octiave: R = rand(6, 6); A = R * R' (use format long g to get the required precision) fuse_core::Matrix6d cov; - cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, - 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, - 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, - 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, - 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, - 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; + cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, // NOLINT + 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, // NOLINT + 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, // NOLINT + 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, // NOLINT + 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, // NOLINT + 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; // NOLINT RelativePose3DStampedConstraint constraint( "test", @@ -108,9 +108,9 @@ TEST(RelativePose3DStampedConstraint, Covariance) // Define the expected matrices (used Octave to compute sqrt_info: 'chol(inv(A))') fuse_core::Matrix6d expected_sqrt_info; - expected_sqrt_info << 2.12658752275893, 1.20265444927878, 4.71225672571804, 1.43587520991272, -4.12764062992821, -3.19509486240291, // NOLINT - 0.0, 2.41958656956248, 5.93151964116945, 3.72535320852517, -4.23326858606213, -5.27776664777548, // NOLINT - 0.0, 0.0, 3.82674686590005, 2.80341171946161, -2.68168478581452, -2.8894384435255, // NOLINT + expected_sqrt_info << 2.12658752275893, 1.20265444927878, 4.71225672571804, 1.43587520991272, -4.12764062992821, -3.19509486240291, // NOLINT + 0.0, 2.41958656956248, 5.93151964116945, 3.72535320852517, -4.23326858606213, -5.27776664777548, // NOLINT + 0.0, 0.0, 3.82674686590005, 2.80341171946161, -2.68168478581452, -2.8894384435255, // NOLINT 0.0, 0.0, 0.0, 1.83006791372784, -0.696917410192509, -1.17412835464633, // NOLINT 0.0, 0.0, 0.0, 0.0, 0.953302832761324, -0.769654414882847, // NOLINT 0.0, 0.0, 0.0, 0.0, 0.0, 0.681477739760948; // NOLINT @@ -318,12 +318,12 @@ TEST(RelativePose3DStampedConstraint, Serialization) // Generated PD matrix using Octave: R = rand(6, 6); A = R * R' (use format long g to get the required precision) fuse_core::Matrix6d cov; - cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, - 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, - 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, - 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, - 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, - 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; + cov << 2.0847236144069, 1.10752598122138, 1.02943174290333, 1.96120532313878, 1.96735470687891, 1.5153042667951, // NOLINT + 1.10752598122138, 1.39176289439125, 0.643422499737987, 1.35471905449013, 1.18353784377297, 1.28979625492894, // NOLINT + 1.02943174290333, 0.643422499737987, 1.26701658550187, 1.23641771365403, 1.55169301761377, 1.34706781598061, // NOLINT + 1.96120532313878, 1.35471905449013, 1.23641771365403, 2.39750866789926, 2.06887486311147, 2.04350823837035, // NOLINT + 1.96735470687891, 1.18353784377297, 1.55169301761377, 2.06887486311147, 2.503913946461, 1.73844731158092, // NOLINT + 1.5153042667951, 1.28979625492894, 1.34706781598061, 2.04350823837035, 1.73844731158092, 2.15326088526198; // NOLINT RelativePose3DStampedConstraint expected("test", position1, orientation1, position2, orientation2, delta, cov); @@ -347,9 +347,3 @@ TEST(RelativePose3DStampedConstraint, Serialization) EXPECT_MATRIX_EQ(expected.delta(), actual.delta()); EXPECT_MATRIX_EQ(expected.sqrtInformation(), actual.sqrtInformation()); } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_uuid_ordering.cpp b/fuse_constraints/test/test_uuid_ordering.cpp index 4e3077db8..650a0bf80 100644 --- a/fuse_constraints/test/test_uuid_ordering.cpp +++ b/fuse_constraints/test/test_uuid_ordering.cpp @@ -131,9 +131,3 @@ TEST(UuidOrdering, Exists) EXPECT_TRUE(order.exists(uuid3)); EXPECT_FALSE(order.exists(uuid4)); } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/fuse_constraints/test/test_variable_constraints.cpp b/fuse_constraints/test/test_variable_constraints.cpp index bcedc2121..cde42e6ef 100644 --- a/fuse_constraints/test/test_variable_constraints.cpp +++ b/fuse_constraints/test/test_variable_constraints.cpp @@ -131,9 +131,3 @@ TEST(VariableConstraints, InsertOrphanVariable) EXPECT_TRUE(actual.empty()); } - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -}