Fix test with acc_x = 2 m/s2

Because COM was not zero, this acc_x produced an integration of L, which was tested against zero and therefore failing the test

test/gtest_processor_force_torque_inertial_preint_dynamics.cpp

@@ -146,6 +146,9 @@ TEST_F(Test_ProcessorForceTorqueInertialPreintDynamics_yaml, 1m_x_moving_test)
     data(6)            = 1.952*2;
     MatrixXd         data_cov = MatrixXd::Identity(12, 12);
 
+    // Set CoM to zero so that an acceleration on X does not produce a torque, thereby producing non-null 'L' at KF1
+    S->getStateBlock('C')->setState(Vector3d::Zero());
+
     CaptureMotionPtr C0_0       = std::make_shared<CaptureMotion>("CaptureMotion", 0.0, S, data, data_cov, nullptr);
     CaptureMotionPtr C1_0       = std::make_shared<CaptureMotion>("CaptureMotion", 0.3, S, data, data_cov, nullptr);
     CaptureMotionPtr C2_0       = std::make_shared<CaptureMotion>("CaptureMotion", 0.6, S, data, data_cov, nullptr);
@@ -158,8 +161,11 @@ TEST_F(Test_ProcessorForceTorqueInertialPreintDynamics_yaml, 1m_x_moving_test)
 
     CaptureMotionPtr C_KF1 = std::static_pointer_cast<CaptureMotion>(p->getOrigin());
 
+    P->print(4,1,1,1);
+
+    C_KF1->getBuffer().print(1,1,1,0,0);
 
-    //We check that, effectively, the dron has moved 1m in the x direction, the x component of the
+    //We check that, effectively, the drone has moved 1m in the x direction, the x component of the
     //velocity is now 2m/s and nothing else has changed from the original state
     ASSERT_MATRIX_APPROX(C_KF1->getFrame()->getStateBlock('P')->getState(), Vector3d(1,0,0), 1e-8);
     ASSERT_QUATERNION_APPROX(Quaterniond(C_KF1->getFrame()->getStateBlock('O')->getState().data()), Quaterniond(C_KF0->getFrame()->getStateBlock('O')->getState().data()), 1e-8);
@@ -254,6 +260,6 @@ TEST_F(Test_ProcessorForceTorqueInertialPreintDynamics_yaml, VoteForKeyFrame_buf
 int main(int argc, char **argv)
 {
     testing::InitGoogleTest(&argc, argv);
-    ::testing::GTEST_FLAG(filter) = "Test_ProcessorForceTorqueInertialPreintDynamics_yaml.not_moving_test";
+    // ::testing::GTEST_FLAG(filter) = "Test_ProcessorForceTorqueInertialPreintDynamics_yaml.not_moving_test";
     return RUN_ALL_TESTS();
 }
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