add beehive grow test

JuliaRobotics · May 19, 2021 · fa1bd91 · fa1bd91
1 parent f518061
commit fa1bd91
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Showing 2 changed files with 12 additions and 9 deletions.
diff --git a/test/runtests.jl b/test/runtests.jl
@@ -36,6 +36,7 @@ testfiles = [
   "testAccumulateFactors.jl";
   "testDeadReckoningTether.jl"; 
   "testFluxModelsPose2.jl";
+  "testBeehiveGrow.jl"
 ]
 
 

diff --git a/test/testBeehiveGrow.jl b/test/testBeehiveGrow.jl
@@ -4,7 +4,7 @@ using Test
 using RoME
 using Distributed
 
-while nprocs() < 4
+while nprocs() < 3
   addprocs(1)
 end
 
@@ -17,7 +17,7 @@ using RoME
 
 ##
 
-fg = RoME.generateCanonicalFG_Beehive!(7, graphinit=true)
+fg = RoME.generateCanonicalFG_Beehive!(7, graphinit=true, useMsgLikelihoods = true)
 tree, _, _ = solveTree!(fg);
 
 fg = RoME.generateCanonicalFG_Beehive!(14, graphinit=true, fg=fg)
@@ -27,7 +27,6 @@ tree_ = deepcopy(tree); fg_ = deepcopy(fg);
 fg = RoME.generateCanonicalFG_Beehive!(21, graphinit=true, fg=fg)
 tree, _, _ = solveTree!(fg  , tree);
 
-
 # fg = RoME.generateCanonicalFG_Beehive!(28, graphinit=true, fg=fg)
 # tree, _, _ = solveTree!(fg, tree);
 
@@ -42,23 +41,26 @@ tree, _, _ = solveTree!(fg  , tree);
 
 # working before IIF 1010
 
-# @test isappox( getPPE(fg, :l11).suggested , [], atol= )
+@warn("Test for beehive graph is using loose bounds until IIF #1010 is resolved.")
+@test isapprox( getPPE(fg, :l11).suggested , [5;10*sin(pi/3)], atol=4)
+@test isapprox( getPPE(fg, :l0).suggested , [20;0], atol=2)
+@test isapprox( getPPE(fg, :l7).suggested , [20;-20*sin(pi/3)], atol=4)
 
 # likely to fail until IIF 1010 is completed
+@test_broken  isapprox( getPPE(fg, :x21).suggested[1:2] , [10;-20*sin(pi/3)], atol=4)
 
 
 ##
 
-
 end
 
 ##
 
-using RoMEPlotting
-Gadfly.set_default_plot_size(40cm,25cm)
+# using RoMEPlotting
+# Gadfly.set_default_plot_size(40cm,25cm)
 
-##
+# ##
 
-plotSLAM2D(fg, drawContour=false, drawPoints=false, drawEllipse=false)
+# plotSLAM2D(fg, drawContour=false, drawPoints=false, drawEllipse=false)
 
 #