Two gtests are failing
The following gtests are failing in the CI:
- gtest_processor_inertial_kinematics
- gtest_processor_force_torque_preint
I commented them in the CMakeLists.txt
but they should be fixed.
gtest_processor_force_torque_preint
error:
[ RUN ] Cst2KFZeroMotion.ZeroMotionZeroBias
/home/jvallve/code/cpp/wolf/bodydynamics/test/processor_imu.yaml
[error][16:33:41] Problem::addProcessorIsMotion: adding a IsMotion processor with priority = 1 which is already taken. Trying to add it with priority = 2
gtest_processor_force_torque_preint: /usr/local/include/iri-algorithms/wolf/plugin_core/core/factor/factor_autodiff.h:1176: wolf::FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, 0u, 0u, 0u, 0u>::FactorAutodiff(const string&, const wolf::FactorTopology&, const FeatureBasePtr&, const FrameBasePtr&, const CaptureBasePtr&, const FeatureBasePtr&, const LandmarkBasePtr&, const ProcessorBasePtr&, bool, wolf::FactorStatus, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr) [with FacT = wolf::FactorInertialKinematics; unsigned int RES = 9u; unsigned int B0 = 3u; unsigned int B1 = 4u; unsigned int B2 = 3u; unsigned int B3 = 3u; unsigned int B4 = 3u; unsigned int B5 = 3u; unsigned int B6 = 3u; unsigned int B7 = 6u; std::__cxx11::string = std::__cxx11::basic_string<char>; wolf::FeatureBasePtr = std::shared_ptr<wolf::FeatureBase>; wolf::FrameBasePtr = std::shared_ptr<wolf::FrameBase>; wolf::CaptureBasePtr = std::shared_ptr<wolf::CaptureBase>; wolf::LandmarkBasePtr = std::shared_ptr<wolf::LandmarkBase>; wolf::ProcessorBasePtr = std::shared_ptr<wolf::ProcessorBase>; wolf::StateBlockPtr = std::shared_ptr<wolf::StateBlock>]: Assertion `_state3Ptr != nullptr && "nullptr state block"' failed.
gtest_processor_inertial_kinematics
error:
[ RUN ] FactorInertialKinematics_2KF.sensor_and_processors_registration
/home/jvallve/code/cpp/wolf/bodydynamics/test/processor_imu.yaml
[trace][16:33:15] [problem.cpp L1042 : setPriorOptions] prior mode: factor
[trace][16:33:15] [problem.cpp L1050 : setPriorOptions] prior state: L: (0 0 0); P: (0 0 0); D: (0 0 0); O: (0 0 0 1); V: (0 0 0); C: (0 0 0);
[trace][16:33:15] [problem.cpp L1051 : setPriorOptions] prior time tolerance: 0.001
[trace][16:33:15] [problem.cpp L1074 : setPriorOptions] prior covariance:
[C,C]:
1e-12 0 0
0 1e-12 0
0 0 1e-12
[V,V]:
1e-12 0 0
0 1e-12 0
0 0 1e-12
[L,L]:
1e-12 0 0
0 1e-12 0
0 0 1e-12
[P,P]:
1e-12 0 0
0 1e-12 0
0 0 1e-12
[D,D]:
1e-12 0 0
0 1e-12 0
0 0 1e-12
[O,O]:
1e-12 0 0
0 1e-12 0
0 0 1e-12
gtest_processor_inertial_kinematics: /usr/local/include/iri-algorithms/wolf/plugin_core/core/factor/factor_autodiff.h:1176: wolf::FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, 0u, 0u, 0u, 0u>::FactorAutodiff(const string&, const wolf::FactorTopology&, const FeatureBasePtr&, const FrameBasePtr&, const CaptureBasePtr&, const FeatureBasePtr&, const LandmarkBasePtr&, const ProcessorBasePtr&, bool, wolf::FactorStatus, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr, wolf::StateBlockPtr) [with FacT = wolf::FactorInertialKinematics; unsigned int RES = 9u; unsigned int B0 = 3u; unsigned int B1 = 4u; unsigned int B2 = 3u; unsigned int B3 = 3u; unsigned int B4 = 3u; unsigned int B5 = 3u; unsigned int B6 = 3u; unsigned int B7 = 6u; std::__cxx11::string = std::__cxx11::basic_string<char>; wolf::FeatureBasePtr = std::shared_ptr<wolf::FeatureBase>; wolf::FrameBasePtr = std::shared_ptr<wolf::FrameBase>; wolf::CaptureBasePtr = std::shared_ptr<wolf::CaptureBase>; wolf::LandmarkBasePtr = std::shared_ptr<wolf::LandmarkBase>; wolf::ProcessorBasePtr = std::shared_ptr<wolf::ProcessorBase>; wolf::StateBlockPtr = std::shared_ptr<wolf::StateBlock>]: Assertion `_state3Ptr != nullptr && "nullptr state block"' failed.
Edited by Joan Vallvé Navarro