UnitTests

Most of the development of this software was done following the TDD techniques, where the tests are written first things to write. Because of this, the distribution includes a number of tests that test all the basic functionality of the map, including the correctness of the mathematical model.

Same tests use that included in the PCData, which has a sample of Kinect-generated point cloud data.

To simplify the running of the tests a Makefile is included, so that executing:

make test

is enough to run all the included tests.

Included Tests

Please note that the _online_em module is tested twice. Once through the DynamicNod, which provides a simpler Python interface, and again using the _online_em native interface. The operations tested are the same. This ensures that the DynamicNode abstraction does not break things.