From 1413ed8256a0850e1ef4919dfc74d304fe91d153 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 8 Sep 2022 14:32:51 +0200
Subject: [PATCH] Write solver report at each iteration
---
...st_simulation_problem_force_torque_inertial_dynamics.cpp | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp b/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
index 763ecb8..9c0922f 100644
--- a/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp
@@ -421,10 +421,10 @@ TEST_F(Test_SimulationProblemForceTorqueInertialDynamics_yaml, simulation_online
// solve!
report = solver->solve(wolf::SolverManager::ReportVerbosity::BRIEF);
- // WOLF_INFO(report);
-
+
// results of this iteration
WOLF_INFO("Time : ", t, " s.");
+ WOLF_INFO(report);
WOLF_INFO("Estimated bias : ", S->getStateBlock('I')->getState().transpose(), " m/s2 - rad/s.");
WOLF_INFO("Estimated inertia : ", S->getStateBlock('i')->getState().transpose(), " m^2 Kg.");
WOLF_INFO("Estimated center of mass: ", S->getStateBlock('C')->getState().transpose(), " m.");
@@ -436,10 +436,10 @@ TEST_F(Test_SimulationProblemForceTorqueInertialDynamics_yaml, simulation_online
report = solver->solve(wolf::SolverManager::ReportVerbosity::BRIEF);
- WOLF_INFO(report);
// FINAL RESULTS
+ WOLF_INFO(report);
WOLF_INFO("True bias * : ", bias_true.transpose(), " m/s2 - rad/s.");
WOLF_INFO("Guess bias : ", bias_guess.transpose(), " m/s2 - rad/s.");
WOLF_INFO("Estimated bias : ", S->getStateBlock('I')->getState().transpose(), " m/s2 - rad/s.");
--
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