From b09cefcb2517e955830113ae08d8eddae773d360 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 4 Jul 2024 17:41:20 +0200
Subject: [PATCH] [skip ci] adapted to new problem create
---
demos/solo_imu_kine.cpp | 2 +-
demos/solo_imu_kine_mocap.cpp | 2 +-
demos/solo_imu_mocap.cpp | 2 +-
demos/solo_kine_mocap.cpp | 4 ++--
demos/solo_real_povcdl_estimation.cpp | 2 +-
test/gtest_factor_force_torque.cpp | 2 +-
test/gtest_factor_inertial_kinematics.cpp | 4 ++--
test/gtest_processor_force_torque_preint.cpp | 2 +-
test/gtest_processor_inertial_kinematics.cpp | 2 +-
test/gtest_processor_point_feet_nomove.cpp | 2 +-
10 files changed, 12 insertions(+), 12 deletions(-)
diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp
index 96000e7..5985861 100644
--- a/demos/solo_imu_kine.cpp
+++ b/demos/solo_imu_kine.cpp
@@ -271,7 +271,7 @@ int main(int argc, char** argv)
// SETUP PROBLEM/SENSORS/PROCESSORS
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- ProblemPtr problem = Problem::create("POV", 3);
+ ProblemPtr problem = Problem::create(3);
// add a tree manager for sliding window optimization
ParserYaml parser = ParserYaml("demos/tree_manager.yaml", bodydynamics_root_dir);
diff --git a/demos/solo_imu_kine_mocap.cpp b/demos/solo_imu_kine_mocap.cpp
index 56f5cae..6195d25 100644
--- a/demos/solo_imu_kine_mocap.cpp
+++ b/demos/solo_imu_kine_mocap.cpp
@@ -245,7 +245,7 @@ int main(int argc, char** argv)
// SETUP PROBLEM/SENSORS/PROCESSORS
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- ProblemPtr problem = Problem::create("POV", 3);
+ ProblemPtr problem = Problem::create(3);
// add a tree manager for sliding window optimization
ParserYaml parser = ParserYaml("demos/tree_manager.yaml", bodydynamics_root_dir);
diff --git a/demos/solo_imu_mocap.cpp b/demos/solo_imu_mocap.cpp
index 52aac31..42d2776 100644
--- a/demos/solo_imu_mocap.cpp
+++ b/demos/solo_imu_mocap.cpp
@@ -214,7 +214,7 @@ int main(int argc, char** argv)
// SETUP PROBLEM/SENSORS/PROCESSORS
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- ProblemPtr problem = Problem::create("POV", 3);
+ ProblemPtr problem = Problem::create(3);
// add a tree manager for sliding window optimization
ParserYaml parser = ParserYaml("demos/tree_manager.yaml", bodydynamics_root_dir);
diff --git a/demos/solo_kine_mocap.cpp b/demos/solo_kine_mocap.cpp
index 9713a07..f8e4b0a 100644
--- a/demos/solo_kine_mocap.cpp
+++ b/demos/solo_kine_mocap.cpp
@@ -218,8 +218,8 @@ int main(int argc, char** argv)
// SETUP PROBLEM/SENSORS/PROCESSORS
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- ProblemPtr problem = Problem::create("PO", 3);
- // ProblemPtr problem = Problem::create("POV", 3);
+ ProblemPtr problem = Problem::create(3);
+ // ProblemPtr problem = Problem::create(3);
// add a tree manager for sliding window optimization
ParserYaml parser = ParserYaml("demos/tree_manager.yaml", bodydynamics_root_dir);
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index b504820..a714d32 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -218,7 +218,7 @@ int main(int argc, char** argv)
// SETUP PROBLEM/SENSORS/PROCESSORS
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- ProblemPtr problem = Problem::create("POVCDL", 3);
+ ProblemPtr problem = Problem::create(3);
//////////////////////
// COMPUTE INITIAL STATE
diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp
index f7ca0c5..00d5eaa 100644
--- a/test/gtest_factor_force_torque.cpp
+++ b/test/gtest_factor_force_torque.cpp
@@ -208,7 +208,7 @@ class FactorInertialKinematics_2KF : public testing::Test
mass_ = 10.0; // Small 10 kg robot
//===================================================== SETTING PROBLEM
// WOLF PROBLEM
- problem_ = Problem::create("POV", 3);
+ problem_ = Problem::create(3);
VectorXd extr_ik(0);
ParamsSensorInertialKinematicsPtr intr_ik = std::make_shared<ParamsSensorInertialKinematics>();
diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp
index ba809bf..f603811 100644
--- a/test/gtest_factor_inertial_kinematics.cpp
+++ b/test/gtest_factor_inertial_kinematics.cpp
@@ -95,7 +95,7 @@ class FactorInertialKinematics_1KF : public testing::Test
{
//===================================================== SETTING PROBLEM
// WOLF PROBLEM
- problem_ = Problem::create("POV", 3);
+ problem_ = Problem::create(3);
// CERES WRAPPER
solver_ = std::make_shared<SolverCeres>(problem_);
@@ -301,7 +301,7 @@ class FactorInertialKinematics_1KF_1v_bfix : public FactorInertialKinematics_1KF
//
// //===================================================== SETTING PROBLEM
// // WOLF PROBLEM
-// problem_ = Problem::create("POV", 3);
+// problem_ = Problem::create(3);
//
// // CERES WRAPPER
// ceres::Solver::Options ceres_options;
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index a18e245..c7dab46 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -89,7 +89,7 @@ class ProcessorForceTorquePreintImuOdom3dIkin2KF : public testing::Test
{
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- problem_ = Problem::create("POVCDL", 3);
+ problem_ = Problem::create(3);
// CERES WRAPPER
solver_ = std::make_shared<SolverCeres>(problem_);
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index f2f69a3..ffcfb64 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -71,7 +71,7 @@ class FactorInertialKinematics_2KF : public testing::Test
{
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- problem_ = Problem::create("POVCDL", 3);
+ problem_ = Problem::create(3);
// CERES WRAPPER
solver_ = std::make_shared<SolverCeres>(problem_);
diff --git a/test/gtest_processor_point_feet_nomove.cpp b/test/gtest_processor_point_feet_nomove.cpp
index 3825491..fb52f84 100644
--- a/test/gtest_processor_point_feet_nomove.cpp
+++ b/test/gtest_processor_point_feet_nomove.cpp
@@ -72,7 +72,7 @@ class PointFeetCaptures : public testing::Test
{
std::string bodydynamics_root_dir = _WOLF_BODYDYNAMICS_CODE_DIR;
- problem_ = Problem::create("PO", 3);
+ problem_ = Problem::create(3);
// CERES WRAPPER
// solver_ = std::make_shared<SolverCeres>(problem_);
--
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