From d9274941d996c8f3b6d8a598db51d8d89b3fd5d4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 23 Aug 2022 12:59:11 +0200
Subject: [PATCH] Fix test: wrong feature being checked
---
test/gtest_processor_force_torque_inertial_dynamics.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/test/gtest_processor_force_torque_inertial_dynamics.cpp b/test/gtest_processor_force_torque_inertial_dynamics.cpp
index 25df6c6..6e3ee1a 100644
--- a/test/gtest_processor_force_torque_inertial_dynamics.cpp
+++ b/test/gtest_processor_force_torque_inertial_dynamics.cpp
@@ -129,7 +129,7 @@ TEST_F(Test_ProcessorForceTorqueInertialDynamics_yaml, not_moving_test)
betw_states << dpi, dvi, dpd, dvd, dL, dq.coeffs();
- VectorXd delta_preintegrated = C_KF1->getFeatureList().back()->getMeasurement();
+ VectorXd delta_preintegrated = C_KF1->getFeatureList().front()->getMeasurement();
//Cheking that the preintegrated delta calculated by the processor is the same as the one that is correct for sure
ASSERT_MATRIX_APPROX(betw_states, delta_preintegrated, 1e-8);
@@ -197,7 +197,7 @@ TEST_F(Test_ProcessorForceTorqueInertialDynamics_yaml, 1m_x_moving_test__com_zer
betw_states << dpi, dvi, dpd, dvd, dL, dq.coeffs();
- VectorXd delta_preintegrated = C_KF1->getFeatureList().back()->getMeasurement();
+ VectorXd delta_preintegrated = C_KF1->getFeatureList().front()->getMeasurement();
//Cheking that the preintegrated delta calculated by the processor is the same as the one that is correct for sure
ASSERT_MATRIX_APPROX(betw_states, delta_preintegrated, 1e-8);
--
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