text: /**
   * @file   testPriorFactor.cpp
   * @brief  Test PriorFactor
   * @author Frank Dellaert
   * @date   Nov 4, 2014
   */
  
  #include <gtsam/base/Vector.h>
  #include <gtsam/nonlinear/PriorFactor.h>
  #include <CppUnitLite/TestHarness.h>
  
  using namespace std;
  using namespace gtsam;
  
  /* ************************************************************************* */
  
  // Constructor scalar
  TEST(PriorFactor, ConstructorScalar) {
    SharedNoiseModel model;
    PriorFactor<double> factor(1, 1.0, model);
  }
  
  // Constructor vector3
  TEST(PriorFactor, ConstructorVector3) {
    SharedNoiseModel model = noiseModel::Isotropic::Sigma(3, 1.0);
    PriorFactor<Vector3> factor(1, Vector3(1,2,3), model);
  }
  
  // Constructor dynamic sized vector
  TEST(PriorFactor, ConstructorDynamicSizeVector) {
    Vector v(5); v << 1, 2, 3, 4, 5;
    SharedNoiseModel model = noiseModel::Isotropic::Sigma(5, 1.0);
    PriorFactor<Vector> factor(1, v, model);
  }
  
  /* ************************************************************************* */
  int main() {
    TestResult tr;
    return TestRegistry::runAllTests(tr);
  }
  /* ************************************************************************* */
  