Just adding in an end-to-end test

Author: GearsAD

test/HexagonalLightGraphs.jl

@@ -0,0 +1,29 @@
+using Revise
+using Neo4j # So that DFG initializes the database driver.
+using RoME
+using DistributedFactorGraphs
+using Test
+
+# start with an empty factor graph object
+# fg = initfg()
+fg = LightGraphsDFG{SolverParams}(    solverParams=SolverParams())
+
+# Add the first pose :x0
+x0 = addVariable!(fg, :x0, Pose2)
+
+# Add at a fixed location PriorPose2 to pin :x0 to a starting location (10,10, pi/4)
+prior = addFactor!(fg, [:x0], PriorPose2( MvNormal([10; 10; 1.0/8.0], Matrix(Diagonal([0.1;0.1;0.05].^2))) ) )
+
+# Drive around in a hexagon in the cloud
+for i in 0:5
+    psym = Symbol("x$i")
+    nsym = Symbol("x$(i+1)")
+    addVariable!(fg, nsym, Pose2)
+    pp = Pose2Pose2(MvNormal([10.0;0;pi/3], Matrix(Diagonal([0.1;0.1;0.1].^2))))
+    addFactor!(fg, [psym;nsym], pp )
+end
+
+# Alrighty! At this point, we should be able to solve locally...
+# perform inference, and remember first runs are slower owing to Julia's just-in-time compiling
+# Can do with graph too!
+tree, smt, hist = solveTree!(fg)