Commit a6e9948f authored by mederic_fourmy's avatar mederic_fourmy
Browse files

Change the order of FactorApriltagProj arguments

parent 4e83e7e9
......@@ -48,13 +48,13 @@ class FactorApriltagProj : public FactorAutodiff<FactorApriltagProj, 8, 3, 4, 3,
/** \brief Class constructor
*/
FactorApriltagProj(
const FeatureApriltagProjPtr& _feature_ptr,
const SensorBasePtr& _sensor_ptr,
const FrameBasePtr& _frame_ptr,
const LandmarkBasePtr& _landmark_other_ptr,
const FeatureApriltagProjPtr& _feature_ptr,
const ProcessorBasePtr& _processor_ptr,
bool _apply_loss_function,
FactorStatus _status);
FactorStatus _status = FAC_ACTIVE);
/** \brief Class Destructor
*/
......@@ -110,10 +110,10 @@ namespace wolf
{
inline FactorApriltagProj::FactorApriltagProj(
const FeatureApriltagProjPtr& _feature_ptr,
const SensorBasePtr& _sensor_ptr,
const FrameBasePtr& _frame_ptr,
const LandmarkBasePtr& _landmark_other_ptr,
const FeatureApriltagProjPtr& _feature_ptr,
const ProcessorBasePtr& _processor_ptr,
bool _apply_loss_function,
FactorStatus _status) :
......
......@@ -237,13 +237,12 @@ TEST_F(FactorApriltagProj_class, Constructor)
{
f1 = std::static_pointer_cast<FeatureApriltagProj>(FeatureBase::emplace<FeatureApriltagProj>(C1, meas1, meas_cov, 1, tag_width));
FactorApriltagProjPtr factor = std::make_shared<FactorApriltagProj>(
f1,
camera,
F1,
lmk1,
f1,
nullptr,
false,
FAC_ACTIVE
false
);
ASSERT_TRUE(factor->getType() == "FactorApriltagProj");
......@@ -256,7 +255,7 @@ TEST_F(FactorApriltagProj_class, problem_1KF)
f1 = std::static_pointer_cast<FeatureApriltagProj>(FeatureBase::emplace<FeatureApriltagProj>(C1, meas1, meas_cov, 1, tag_width));
//emplace feature and landmark
auto factor = FactorBase::emplace<FactorApriltagProj>(f1, camera, F1, lmk1, f1, nullptr, false, FAC_ACTIVE);
auto factor = FactorBase::emplace<FactorApriltagProj>(f1, f1, camera, F1, lmk1, nullptr, false);
ASSERT_TRUE(problem->check(0));
......@@ -294,8 +293,8 @@ TEST_F(FactorApriltagProj_class, problem_2KF)
auto f2 = std::static_pointer_cast<FeatureApriltagProj>(FeatureBase::emplace<FeatureApriltagProj>(C2, meas2, meas_cov, 2, tag_width));
//emplace feature and landmark
auto factor1 = FactorBase::emplace<FactorApriltagProj>(f1, camera, F1, lmk1, f1, nullptr, false, FAC_ACTIVE);
auto factor2 = FactorBase::emplace<FactorApriltagProj>(f2, camera, F2, lmk1, f2, nullptr, false, FAC_ACTIVE);
auto factor1 = FactorBase::emplace<FactorApriltagProj>(f1, f1, camera, F1, lmk1, nullptr, false);
auto factor2 = FactorBase::emplace<FactorApriltagProj>(f2, f2, camera, F2, lmk1, nullptr, false);
ASSERT_TRUE(problem->check(0));
......
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