Merge pull request #265 from JuliaRobotics/bug/214_subgrapharoundnode

Test for subgraph continuity

Author: Affie

test/interfaceTests.jl

@@ -416,6 +416,10 @@ end
     # Filter - always returns the node you start at but filters around that.
     dfgSubgraph = getSubgraphAroundNode(dfg, getFactor(dfg, :x7x8f1), 1, true, solvable=1)
     @test symdiff([:x7x8f1, :x7], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
+    # Test for distance = 2, so that it only returns chains with solvable=1 (not orphans)
+    #:x7x8f1 is not solvable
+    dfgSubgraph = getSubgraphAroundNode(dfg, getVariable(dfg, :x8), 2, true, solvable=1)
+    @test symdiff([:x8], [ls(dfgSubgraph)..., lsf(dfgSubgraph)...]) == []
 
     # DFG issue #95 - confirming that getSubgraphAroundNode retains order
     # REF: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/95