From b41911ebc24841fa2889c089c2237ac4855cecab Mon Sep 17 00:00:00 2001
From: Matt King-Smith <mattkingsmith@gmail.com>
Date: Wed, 24 May 2023 10:30:58 -0400
Subject: [PATCH] Added enum unit test.

---
 matlab/gpmp2_tests/test_parameterization.m | 10 ++++++++++
 1 file changed, 10 insertions(+)
 create mode 100644 matlab/gpmp2_tests/test_parameterization.m

diff --git a/matlab/gpmp2_tests/test_parameterization.m b/matlab/gpmp2_tests/test_parameterization.m
new file mode 100644
index 0000000..93f44eb
--- /dev/null
+++ b/matlab/gpmp2_tests/test_parameterization.m
@@ -0,0 +1,10 @@
+import gtsam.*
+import gpmp2.*
+
+% Test parameterization 
+arm = generateArm('KinovaGen3');
+
+% Verify 
+t = arm.fk_model();
+assert(strcmp(t.parameterization,"MODIFIED_DH"),"Wrong parameterization returned");
+assert(strcmp(t.parameterizationString,"Modified Denavit-Hartenberg"),"Wrong parameterization returned");
\ No newline at end of file