Add test for adding edge without parameter

Relates #851

unit_test/general/graph_operations.cpp

@@ -42,7 +42,10 @@
 #include "g2o/core/optimization_algorithm_property.h"
 #include "g2o/core/sparse_optimizer.h"
 #include "g2o/stuff/string_tools.h"
-#include "g2o/types/slam2d/types_slam2d.h"
+#include "g2o/types/slam2d/types_slam2d.h"  // IWYU pragma: keep
+#include "g2o/types/slam3d/edge_se3_pointxyz.h"
+#include "g2o/types/slam3d/vertex_pointxyz.h"
+#include "g2o/types/slam3d/vertex_se3.h"
 
 G2O_USE_TYPE_GROUP(slam2d);
 
@@ -136,6 +139,27 @@ TEST(General, GraphAddEdge) {
   delete optimizer;
 }
 
+TEST(General, GraphAddEdgeNoRequiredParam) {
+  g2o::SparseOptimizer* optimizer = g2o::internal::createOptimizerForTests();
+
+  g2o::VertexSE3* poseVertex = new g2o::VertexSE3();
+  poseVertex->setId(0);
+  optimizer->addVertex(poseVertex);
+
+  g2o::VertexPointXYZ* pointVertex = new g2o::VertexPointXYZ();
+  pointVertex->setId(1);
+  optimizer->addVertex(pointVertex);
+
+  g2o::EdgeSE3PointXYZ* edge = new g2o::EdgeSE3PointXYZ();
+  edge->setVertex(0, poseVertex);
+  edge->setVertex(1, pointVertex);
+
+  EXPECT_FALSE(optimizer->addEdge(edge));
+
+  optimizer->clear();
+  delete optimizer;
+}
+
 TEST(General, GraphChangeId) {
   std::unique_ptr<g2o::SparseOptimizer> optimizer(
       g2o::internal::createOptimizerForTests());