/* ************************************************************************* */
TEST(GaussianFactorGraph, eliminate_empty) {
// eliminate an empty factor
GaussianFactorGraph gfg;
gfg.add(JacobianFactor());
GaussianBayesNet::shared_ptr actualBN;
GaussianFactorGraph::shared_ptr remainingGFG;
boost::tie(actualBN, remainingGFG) = gfg.eliminatePartialSequential(Ordering());
// expected Bayes net is empty
GaussianBayesNet expectedBN;
// expected remaining graph should be the same as the original, still containing the empty factor
GaussianFactorGraph expectedLF = gfg;
// check if the result matches
EXPECT(assert_equal(*actualBN, expectedBN));
EXPECT(assert_equal(*remainingGFG, expectedLF));
}
