Merge pull request #789 from JuliaRobotics/21Q3/test/getpointidentity

test getPointIdentity

Author: dehann

src/services/Serialization.jl

@@ -315,12 +315,12 @@ function packFactor(dfg::G, f::DFGFactor)::Dict{String, Any} where G <: Abstract
 end
 
 function decodePackedType(::Type{T}, packeddata::GenericFunctionNodeData{PT}) where {T<:FactorOperationalMemory, PT}
-  # usrtyp = convert(FunctorInferenceType, packeddata.fnc)
-  # Also look at parentmodule
-  usrtyp = convertStructType(PT)
-  fulltype = DFG.FunctionNodeData{T{usrtyp}}
-  factordata = convert(fulltype, packeddata)
-  return factordata
+    # usrtyp = convert(FunctorInferenceType, packeddata.fnc)
+    # Also look at parentmodule
+    usrtyp = convertStructType(PT)
+    fulltype = DFG.FunctionNodeData{T{usrtyp}}
+    factordata = convert(fulltype, packeddata)
+    return factordata
 end
 
 

test/test_defVariable.jl

@@ -25,6 +25,11 @@ struct NotAManifold end
 
 @test getPointType(TestVarType1) == Vector{Float64}
 @test getPointType(TestVarType2) == ProductRepr{Tuple{Vector{Float64}, Matrix{Float64}}}
+
+@test getPointIdentity(TestVarType1) == zeros(3)
+@test getPointIdentity(TestVarType2).parts[1] == ProductRepr(zeros(3), diagm(ones(3))).parts[1]
+@test getPointIdentity(TestVarType2).parts[2] == ProductRepr(zeros(3), diagm(ones(3))).parts[2]
+
 ##
 
 
@@ -37,4 +42,8 @@ struct NotAManifold end
 @test getPointType(TestVarType1()) == Vector{Float64}
 @test getPointType(TestVarType2()) == ProductRepr{Tuple{Vector{Float64}, Matrix{Float64}}}
 
+@test getPointIdentity(TestVarType1()) == zeros(3)
+@test getPointIdentity(TestVarType2()).parts[1] == ProductRepr(zeros(3), diagm(ones(3))).parts[1]
+@test getPointIdentity(TestVarType2()).parts[2] == ProductRepr(zeros(3), diagm(ones(3))).parts[2]
+
 end