Add filename parameter to API

test/gtest_simulation_problem_force_torque_inertial_dynamics.cpp

@@ -69,11 +69,11 @@ class Test_SimulationProblemForceTorqueInertialDynamics_yaml : public testing::T
     std::vector<Quaterniond>                quaternion;
 
   protected:
-    void ExtractAndCompleteData()
+    void extractAndCompleteData(const std::string& file_path_name)
     {
         Vector3d      position_i, vlin_i, vang_i, force_i, torque_i, a_meas_i;
         std::ifstream data_simulation;
-        string        data_file = "/home/asanjuan/dev/wolf_lib/bodydynamics/test/dades_simulacio_pep.csv";
+        string        data_file = file_path_name;
         data_simulation.open(data_file, std::ios::in);
         string line_data;
         char   delimiter = ',';
@@ -199,14 +199,15 @@ class Test_SimulationProblemForceTorqueInertialDynamics_yaml : public testing::T
 
     void SetUp() override
     {
-        ExtractAndCompleteData();
+        std::string wolf_bodydynamics_root = _WOLF_BODYDYNAMICS_ROOT_DIR;
+
+        extractAndCompleteData(wolf_bodydynamics_root + "/test/dades_simulacio_pep.csv");
 
-        std::string wolf_root = _WOLF_BODYDYNAMICS_ROOT_DIR;
         ParserYaml  parser =
-            ParserYaml("problem_force_torque_inertial_dynamics_simulation_test.yaml", wolf_root + "/test/yaml/");
+            ParserYaml("problem_force_torque_inertial_dynamics_simulation_test.yaml", wolf_bodydynamics_root + "/test/yaml/");
         ParamsServer server = ParamsServer(parser.getParams());
         P                   = Problem::autoSetup(server);
-        // CERES WRAPPER
+
         solver = std::make_shared<SolverCeres>(P);
         // solver->getSolverOptions().max_num_iterations               = 1e4;
         // solver->getSolverOptions().function_tolerance               = 1e-15;
@@ -233,12 +234,13 @@ TEST_F(Test_SimulationProblemForceTorqueInertialDynamics_yaml, simulation)
 {
     // Calibration params
     Vector6d bias_guess(Vector6d::Zero());
-    S->getStateBlock('I')->setState(bias_guess);
     Vector3d cdm_guess(0.005, 0.005, 0.1);
-    S->getStateBlock('C')->setState(cdm_guess);
     Vector3d inertia_guess(0.01, 0.01, 0.02);
-    S->getStateBlock('i')->setState(inertia_guess);
     double mass_guess = 1.5;
+
+    S->getStateBlock('I')->setState(bias_guess);
+    S->getStateBlock('C')->setState(cdm_guess);
+    S->getStateBlock('i')->setState(inertia_guess);
     S->getStateBlock('m')->setState(Vector1d(mass_guess));
 
     S->getStateBlock('P')->fix();