diff --git a/include/gnss/factor/factor_gnss_pseudo_range.h b/include/gnss/factor/factor_gnss_pseudo_range.h
index 9dbf1419409e3d6a3b71bb69ac6798420d16883d..17aa7734cca56467daa075d31e748a0d014c31c8 100644
--- a/include/gnss/factor/factor_gnss_pseudo_range.h
+++ b/include/gnss/factor/factor_gnss_pseudo_range.h
@@ -40,12 +40,12 @@ class FactorGnssPseudoRange : public FactorAutodiff<FactorGnssPseudoRange, 1, 3,
_status,
_ftr_ptr->getFrame()->getP(),
_ftr_ptr->getFrame()->getO(),
- _ftr_ptr->getCapture()->getStateBlock("T"),
+ _ftr_ptr->getCapture()->getStateBlock('T'),
(_ftr_ptr->getSatellite().sys == SYS_GLO ?
- _ftr_ptr->getCapture()->getStateBlock("G") :
+ _ftr_ptr->getCapture()->getStateBlock('G') :
(_ftr_ptr->getSatellite().sys == SYS_GAL ?
- _ftr_ptr->getCapture()->getStateBlock("E") :
- _ftr_ptr->getCapture()->getStateBlock("M"))),//in case GPS, M is set but anyway not used
+ _ftr_ptr->getCapture()->getStateBlock('E') :
+ _ftr_ptr->getCapture()->getStateBlock('M'))),//in case GPS, M is set but anyway not used
_sensor_gnss_ptr->getP(),
_sensor_gnss_ptr->getEnuMapTranslation(),
_sensor_gnss_ptr->getEnuMapRoll(),
diff --git a/include/gnss/factor/factor_gnss_tdcp.h b/include/gnss/factor/factor_gnss_tdcp.h
index edc56b4ba211950e0417be1eac7753797b9d2149..0cf18f03d05bfcbf219e17ccc7ee59990cd3f827 100644
--- a/include/gnss/factor/factor_gnss_tdcp.h
+++ b/include/gnss/factor/factor_gnss_tdcp.h
@@ -41,10 +41,10 @@ class FactorGnssTdcp : public FactorAutodiff<FactorGnssTdcp, 1, 3, 4, 1, 3, 4, 1
_status,
_ftr_r->getFrame()->getP(),
_ftr_r->getFrame()->getO(),
- _ftr_r->getCapture()->getStateBlock("T"),
+ _ftr_r->getCapture()->getStateBlock('T'),
_ftr_k->getFrame()->getP(),
_ftr_k->getFrame()->getO(),
- _ftr_k->getCapture()->getStateBlock("T"),
+ _ftr_k->getCapture()->getStateBlock('T'),
_sensor_gnss_ptr->getP(),
_sensor_gnss_ptr->getEnuMapTranslation(),
_sensor_gnss_ptr->getEnuMapRoll(),
@@ -56,8 +56,8 @@ class FactorGnssTdcp : public FactorAutodiff<FactorGnssTdcp, 1, 3, 4, 1, 3, 4, 1
satellite_ENU_r_(sensor_gnss_ptr_->getREnuEcef() * _ftr_r->getSatellite().pos + sensor_gnss_ptr_->gettEnuEcef())
{
assert(_ftr_r != _ftr_k);
- assert(_ftr_r->getCapture()->getStateBlock("T") != nullptr);
- assert(_ftr_k->getCapture()->getStateBlock("T") != nullptr);
+ assert(_ftr_r->getCapture()->getStateBlock('T') != nullptr);
+ assert(_ftr_k->getCapture()->getStateBlock('T') != nullptr);
WOLF_WARN_COND(!sensor_gnss_ptr_->isEnuDefined() && _status == FAC_ACTIVE, "Creating an FactorGnssTdcp without initializing ENU");
diff --git a/include/gnss/sensor/sensor_gnss.h b/include/gnss/sensor/sensor_gnss.h
index 96d9dc986bc71da54ca6ba44a7ccdf3480e20cb1..d3406455faa28be57193382dbc5f1b3d54e8850e 100644
--- a/include/gnss/sensor/sensor_gnss.h
+++ b/include/gnss/sensor/sensor_gnss.h
@@ -8,10 +8,10 @@
namespace wolf {
-static std::string CLOCK_BIAS_KEY = "T";
-static std::string CLOCK_BIAS_GPS_GLO_KEY = "G";
-static std::string CLOCK_BIAS_GPS_GAL_KEY = "E";
-static std::string CLOCK_BIAS_GPS_CMP_KEY = "M";
+static char CLOCK_BIAS_KEY = 'T';
+static char CLOCK_BIAS_GPS_GLO_KEY = 'G';
+static char CLOCK_BIAS_GPS_GAL_KEY = 'E';
+static char CLOCK_BIAS_GPS_CMP_KEY = 'M';
WOLF_STRUCT_PTR_TYPEDEFS(ParamsSensorGnss);
WOLF_PTR_TYPEDEFS(SensorGnss);
@@ -156,22 +156,22 @@ inline bool SensorGnss::isEnuModeAuto() const
inline StateBlockPtr SensorGnss::getEnuMapTranslation() const
{
- return getStateBlock("t");
+ return getStateBlock('t');
}
inline StateBlockPtr SensorGnss::getEnuMapRoll() const
{
- return getStateBlock("r");
+ return getStateBlock('r');
}
inline StateBlockPtr SensorGnss::getEnuMapPitch() const
{
- return getStateBlock("p");
+ return getStateBlock('p');
}
inline StateBlockPtr SensorGnss::getEnuMapYaw() const
{
- return getStateBlock("y");
+ return getStateBlock('y');
}
inline const Eigen::Matrix3d& SensorGnss::getREnuEcef() const
diff --git a/src/capture/capture_gnss.cpp b/src/capture/capture_gnss.cpp
index 9294f3c606699432fadce29b0bf075e25a50538f..dba80b6658399b6dc39d82ada38afc5624a446e1 100644
--- a/src/capture/capture_gnss.cpp
+++ b/src/capture/capture_gnss.cpp
@@ -8,19 +8,19 @@ CaptureGnss::CaptureGnss(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, GnssUt
snapshot_(_snapshot)
{
// Clock bias
- assert(_sensor_ptr->getStateBlock("T") != nullptr and _sensor_ptr->isStateBlockDynamic("T"));
- addStateBlock("T", std::make_shared<StateBlock>(1,true), nullptr);
+ assert(_sensor_ptr->getStateBlock('T') != nullptr and _sensor_ptr->isStateBlockDynamic('T'));
+ addStateBlock('T', std::make_shared<StateBlock>(1,true), nullptr);
// interconstellation clock bias
- assert(_sensor_ptr->getStateBlock("G") != nullptr);
- if(_sensor_ptr->isStateBlockDynamic("G"))
- addStateBlock("G", std::make_shared<StateBlock>(1,true), nullptr);
- assert(_sensor_ptr->getStateBlock("E") != nullptr);
- if(_sensor_ptr->isStateBlockDynamic("E"))
- addStateBlock("E", std::make_shared<StateBlock>(1,true), nullptr);
- assert(_sensor_ptr->getStateBlock("M") != nullptr);
- if(_sensor_ptr->isStateBlockDynamic("M"))
- addStateBlock("M", std::make_shared<StateBlock>(1,true), nullptr);
+ assert(_sensor_ptr->getStateBlock('G') != nullptr);
+ if(_sensor_ptr->isStateBlockDynamic('G'))
+ addStateBlock('G', std::make_shared<StateBlock>(1,true), nullptr);
+ assert(_sensor_ptr->getStateBlock('E') != nullptr);
+ if(_sensor_ptr->isStateBlockDynamic('E'))
+ addStateBlock('E', std::make_shared<StateBlock>(1,true), nullptr);
+ assert(_sensor_ptr->getStateBlock('M') != nullptr);
+ if(_sensor_ptr->isStateBlockDynamic('M'))
+ addStateBlock('M', std::make_shared<StateBlock>(1,true), nullptr);
}
diff --git a/src/processor/processor_tracker_gnss.cpp b/src/processor/processor_tracker_gnss.cpp
index 969c7b89e8d3886343c7dfae3d084e3bed69386c..72046d47ef6bf027b5031674bce17539aa7d7a29 100644
--- a/src/processor/processor_tracker_gnss.cpp
+++ b/src/processor/processor_tracker_gnss.cpp
@@ -44,13 +44,13 @@ void ProcessorTrackerGnss::preProcess()
// Initialize clock bias stateblocks in capture
if (fix_incoming_.success)
{
- incoming_ptr_->getStateBlock("T") ->setState(Eigen::Vector1d(CLIGHT*fix_incoming_.rcv_bias(0)));
- if (sensor_gnss_->isStateBlockDynamic("G"))
- incoming_ptr_->getStateBlock("G")->setState(Eigen::Vector1d(CLIGHT*fix_incoming_.rcv_bias(1)));
- if (sensor_gnss_->isStateBlockDynamic("E"))
- incoming_ptr_->getStateBlock("E")->setState(Eigen::Vector1d(CLIGHT*fix_incoming_.rcv_bias(2)));
- if (sensor_gnss_->isStateBlockDynamic("M"))
- incoming_ptr_->getStateBlock("M")->setState(Eigen::Vector1d(CLIGHT*fix_incoming_.rcv_bias(3)));
+ incoming_ptr_->getStateBlock('T') ->setState(Eigen::Vector1d(CLIGHT*fix_incoming_.rcv_bias(0)));
+ if (sensor_gnss_->isStateBlockDynamic('G'))
+ incoming_ptr_->getStateBlock('G')->setState(Eigen::Vector1d(CLIGHT*fix_incoming_.rcv_bias(1)));
+ if (sensor_gnss_->isStateBlockDynamic('E'))
+ incoming_ptr_->getStateBlock('E')->setState(Eigen::Vector1d(CLIGHT*fix_incoming_.rcv_bias(2)));
+ if (sensor_gnss_->isStateBlockDynamic('M'))
+ incoming_ptr_->getStateBlock('M')->setState(Eigen::Vector1d(CLIGHT*fix_incoming_.rcv_bias(3)));
}
// Set ECEF-ENU
@@ -202,14 +202,14 @@ void ProcessorTrackerGnss::establishFactors()
}
// unfix clock bias
- last_ptr_->getStateBlock("T")->unfix();
+ last_ptr_->getStateBlock('T')->unfix();
// unfix clock bias inter-constellation (if observed)
if (ftr_sat->getSatellite().sys == SYS_GLO)
- last_ptr_->getStateBlock("G")->unfix();
+ last_ptr_->getStateBlock('G')->unfix();
if (ftr_sat->getSatellite().sys == SYS_GAL)
- last_ptr_->getStateBlock("E")->unfix();
+ last_ptr_->getStateBlock('E')->unfix();
if (ftr_sat->getSatellite().sys == SYS_CMP)
- last_ptr_->getStateBlock("M")->unfix();
+ last_ptr_->getStateBlock('M')->unfix();
// Emplace a pseudo range factor
auto new_fac = FactorBase::emplace<FactorGnssPseudoRange>(ftr_sat,
@@ -239,7 +239,7 @@ void ProcessorTrackerGnss::establishFactors()
WOLF_DEBUG("FeatureGnssSatellite sat: ", ftr_k->satNumber(), " id: ", ftr_k->id());
// unfix clock bias
- last_ptr_->getStateBlock("T")->unfix();
+ last_ptr_->getStateBlock('T')->unfix();
// emplace a tdcp factor from last to each KF
auto ts_ftr_r_map = track_matrix_.trackAtKeyframes(ftr_k_pair.first);
@@ -358,20 +358,20 @@ void ProcessorTrackerGnss::removeOutliers(FactorBasePtrList fac_list, CaptureBas
//std::cout << "x_antena_pr: " << x_antena_pr.transpose() << std::endl;
//std::cout << "frame p: " << cap->getFrame()->getP()->getState().transpose() << std::endl;
//std::cout << "frame o: " << cap->getFrame()->getO()->getState().transpose() << std::endl;
- //std::cout << "sb clock: " << cap->getStateBlock("T")->getState() << std::endl;
- //std::cout << "sb clock glo: " << cap->getStateBlock("G")->getState() << std::endl;
- //std::cout << "sb clock gal: " << cap->getStateBlock("E")->getState() << std::endl;
- //std::cout << "sb clock cmp: " << cap->getStateBlock("M")->getState() << std::endl;
+ //std::cout << "sb clock: " << cap->getStateBlock('T')->getState() << std::endl;
+ //std::cout << "sb clock glo: " << cap->getStateBlock('G')->getState() << std::endl;
+ //std::cout << "sb clock gal: " << cap->getStateBlock('E')->getState() << std::endl;
+ //std::cout << "sb clock cmp: " << cap->getStateBlock('M')->getState() << std::endl;
//std::cout << "sb antena: " << sensor_gnss_->getP()->getState().transpose() << std::endl;
}
else
{
x = cap->getFrame()->getP()->getState();
o = cap->getFrame()->getO()->getState();
- clock_bias = cap->getStateBlock("T")->getState();
- clock_bias_glo = cap->getStateBlock("G")->getState();
- clock_bias_gal = cap->getStateBlock("E")->getState();
- clock_bias_cmp = cap->getStateBlock("M")->getState();
+ clock_bias = cap->getStateBlock('T')->getState();
+ clock_bias_glo = cap->getStateBlock('G')->getState();
+ clock_bias_gal = cap->getStateBlock('E')->getState();
+ clock_bias_cmp = cap->getStateBlock('M')->getState();
x_antena_pr = sensor_gnss_->getP()->getState();
}
@@ -380,8 +380,8 @@ void ProcessorTrackerGnss::removeOutliers(FactorBasePtrList fac_list, CaptureBas
Eigen::Vector4d o_k(cap->getFrame()->getO()->getState());
Eigen::Vector3d x_r(cap->getFrame()->getP()->getState());
Eigen::Vector4d o_r(cap->getFrame()->getO()->getState());
- Eigen::Vector1d clock_bias_k(cap->getStateBlock("T")->getState());
- Eigen::Vector1d clock_bias_r(cap->getStateBlock("T")->getState());
+ Eigen::Vector1d clock_bias_k(cap->getStateBlock('T')->getState());
+ Eigen::Vector1d clock_bias_r(cap->getStateBlock('T')->getState());
Eigen::Vector3d x_antena(sensor_gnss_->getP()->getState());
// Common states
@@ -494,7 +494,7 @@ void ProcessorTrackerGnss::removeOutliers(FactorBasePtrList fac_list, CaptureBas
// update ref frame
x_r = fac_tdcp->getCaptureOther()->getFrame()->getP()->getState();
o_r = fac_tdcp->getCaptureOther()->getFrame()->getO()->getState();
- clock_bias_r = fac_tdcp->getCaptureOther()->getStateBlock("T")->getState();
+ clock_bias_r = fac_tdcp->getCaptureOther()->getStateBlock('T')->getState();
parameters_tdcp[0] = x_r.data();
parameters_tdcp[1] = o_r.data();
parameters_tdcp[2] = clock_bias_r.data();
diff --git a/src/sensor/sensor_gnss.cpp b/src/sensor/sensor_gnss.cpp
index 36adee111cd3daed2bc7658a025cc7794ee7d11b..9a6d6aae2ce0c05942ef2f7a2edda5bf2cf9f51f 100644
--- a/src/sensor/sensor_gnss.cpp
+++ b/src/sensor/sensor_gnss.cpp
@@ -24,10 +24,10 @@ SensorGnss::SensorGnss(const Eigen::VectorXd& _extrinsics,
assert(_extrinsics.size() == 3 && "Bad extrinsics size");
// ENU
- addStateBlock("t", std::make_shared<StateBlock>(3, params_->translation_fixed), false);
- addStateBlock("r", std::make_shared<StateAngle>(0.0, params_->roll_fixed), false);
- addStateBlock("p", std::make_shared<StateAngle>(0.0, params_->pitch_fixed), false);
- addStateBlock("y", std::make_shared<StateAngle>(0.0, params_->yaw_fixed), false);
+ addStateBlock('t', std::make_shared<StateBlock>(3, params_->translation_fixed), false);
+ addStateBlock('r', std::make_shared<StateAngle>(0.0, params_->roll_fixed), false);
+ addStateBlock('p', std::make_shared<StateAngle>(0.0, params_->pitch_fixed), false);
+ addStateBlock('y', std::make_shared<StateAngle>(0.0, params_->yaw_fixed), false);
// clock bias
addStateBlock(CLOCK_BIAS_KEY, std::make_shared<StateBlock>(1,false), true); // receiver clock bias
diff --git a/test/gtest_factor_gnss_fix_2d.cpp b/test/gtest_factor_gnss_fix_2d.cpp
index f283eb6dc5f9270e03c4a5bbc8dc210f20124d8d..60c94cbe85f33e44f202687008479731b79a22f1 100644
--- a/test/gtest_factor_gnss_fix_2d.cpp
+++ b/test/gtest_factor_gnss_fix_2d.cpp
@@ -167,7 +167,7 @@ TEST(FactorGnssFix2dTest, gnss_1_map_base_position)
ASSERT_EQ(solver_ceres->getSummary().num_residuals_reduced, 3);
// --------------------------- check solver solution
- ASSERT_MATRIX_APPROX(frame_ptr->getState().at("P"), t_map_base.head(2), 1e-6);
+ ASSERT_MATRIX_APPROX(frame_ptr->getState().at('P'), t_map_base.head(2), 1e-6);
}
/*
diff --git a/test/gtest_factor_gnss_pseudo_range.cpp b/test/gtest_factor_gnss_pseudo_range.cpp
index 402608ab90c694826ed3fb55612d34f53b04ded8..9c7f1e36bbe839e321214d0fbdd37e7aadb14cca 100644
--- a/test/gtest_factor_gnss_pseudo_range.cpp
+++ b/test/gtest_factor_gnss_pseudo_range.cpp
@@ -108,8 +108,8 @@ void setUpProblem()
// capture
cap = CaptureBase::emplace<CaptureGnss>(frm, TimeStamp(0), gnss_sensor, nullptr);
- cap->getStateBlock("T")->unfix();
- cap->getStateBlock("T")->setState(clock_drift);
+ cap->getStateBlock('T')->unfix();
+ cap->getStateBlock('T')->setState(clock_drift);
// features
ftr1 = FeatureBase::emplace<FeatureGnssSatellite>(cap, obsd_t(), sat1, range1); // obsd_t data is not used in pseudo range factors
@@ -135,7 +135,7 @@ void setUpProblem()
ASSERT_MATRIX_APPROX(frm->getP()->getState(), t_map_base, 1e-3);
ASSERT_MATRIX_APPROX(frm->getO()->getState(), q_map_base.coeffs(), 1e-3);
// clock drift
- ASSERT_MATRIX_APPROX(clock_drift, cap->getStateBlock("T")->getState(), 1e-3);
+ ASSERT_MATRIX_APPROX(clock_drift, cap->getStateBlock('T')->getState(), 1e-3);
}
void fixAllStates()
@@ -164,10 +164,10 @@ TEST(FactorGnssPreusoRangeTest, observe_clock_drift)
// fix/unfix
fixAllStates();
- cap->getStateBlock("T")->unfix();
+ cap->getStateBlock('T')->unfix();
// perturb
- cap->getStateBlock("T")->perturb(1e2);
+ cap->getStateBlock('T')->perturb(1e2);
// Only 1 factor
fac2->setStatus(FAC_INACTIVE);
@@ -178,7 +178,7 @@ TEST(FactorGnssPreusoRangeTest, observe_clock_drift)
std::string report = solver->solve(SolverManager::ReportVerbosity::FULL);
//std::cout << report << std::endl;
- ASSERT_MATRIX_APPROX(clock_drift, cap->getStateBlock("T")->getState(), 1e-3);
+ ASSERT_MATRIX_APPROX(clock_drift, cap->getStateBlock('T')->getState(), 1e-3);
}
}
@@ -219,11 +219,11 @@ TEST(FactorGnssPreusoRangeTest, observe_frame_p_clock)
// fix/unfix
fixAllStates();
frm->getP()->unfix();
- cap->getStateBlock("T")->unfix();
+ cap->getStateBlock('T')->unfix();
// perturb
frm->getP()->perturb(1);
- cap->getStateBlock("T")->perturb(1e2);
+ cap->getStateBlock('T')->perturb(1e2);
// all 4 factors
@@ -232,7 +232,7 @@ TEST(FactorGnssPreusoRangeTest, observe_frame_p_clock)
//std::cout << report << std::endl;
ASSERT_MATRIX_APPROX(frm->getP()->getState(), t_map_base, 1e-3);
- ASSERT_MATRIX_APPROX(clock_drift, cap->getStateBlock("T")->getState(), 1e-3);
+ ASSERT_MATRIX_APPROX(clock_drift, cap->getStateBlock('T')->getState(), 1e-3);
}
}
diff --git a/test/gtest_factor_gnss_tdcp.cpp b/test/gtest_factor_gnss_tdcp.cpp
index 98e8b75f43b192c9ed9ebdce037c989a401631ae..90c5ab964207fccb52a3ed507f2dedf1487abe81 100644
--- a/test/gtest_factor_gnss_tdcp.cpp
+++ b/test/gtest_factor_gnss_tdcp.cpp
@@ -129,13 +129,13 @@ void setUpProblem()
// capture r
cap_r = CaptureBase::emplace<CaptureGnss>(frm_r, TimeStamp(0), gnss_sensor, nullptr);
- cap_r->getStateBlock("T")->unfix();
- cap_r->getStateBlock("T")->setState(clock_drift_r);
+ cap_r->getStateBlock('T')->unfix();
+ cap_r->getStateBlock('T')->setState(clock_drift_r);
// capture k
cap_k = CaptureBase::emplace<CaptureGnss>(frm_k, TimeStamp(1), gnss_sensor, nullptr);
- cap_k->getStateBlock("T")->unfix();
- cap_k->getStateBlock("T")->setState(clock_drift_k);
+ cap_k->getStateBlock('T')->unfix();
+ cap_k->getStateBlock('T')->setState(clock_drift_k);
// features r
ftr1_r = FeatureBase::emplace<FeatureGnssSatellite>(cap_r, obsd_t(), sat1_r, range1_r);
@@ -170,8 +170,8 @@ void setUpProblem()
ASSERT_MATRIX_APPROX(frm_k->getP()->getState(), t_map_base_k, 1e-3);
ASSERT_MATRIX_APPROX(frm_k->getO()->getState(), q_map_base_k.coeffs(), 1e-3);
// clock drift
- ASSERT_MATRIX_APPROX(clock_drift_r, cap_r->getStateBlock("T")->getState(), 1e-3);
- ASSERT_MATRIX_APPROX(clock_drift_k, cap_k->getStateBlock("T")->getState(), 1e-3);
+ ASSERT_MATRIX_APPROX(clock_drift_r, cap_r->getStateBlock('T')->getState(), 1e-3);
+ ASSERT_MATRIX_APPROX(clock_drift_k, cap_k->getStateBlock('T')->getState(), 1e-3);
}
void fixAllStates()
@@ -202,10 +202,10 @@ TEST(FactorGnssTdcpTest, observe_clock_drift_r)
// fix/unfix
fixAllStates();
- cap_r->getStateBlock("T")->unfix();
+ cap_r->getStateBlock('T')->unfix();
// perturb
- cap_r->getStateBlock("T")->perturb(1e2);
+ cap_r->getStateBlock('T')->perturb(1e2);
// Only 1 factor
fac2->setStatus(FAC_INACTIVE);
@@ -216,7 +216,7 @@ TEST(FactorGnssTdcpTest, observe_clock_drift_r)
std::string report = solver->solve(SolverManager::ReportVerbosity::FULL);
//std::cout << report << std::endl;
- ASSERT_MATRIX_APPROX(clock_drift_r, cap_r->getStateBlock("T")->getState(), 1e-3);
+ ASSERT_MATRIX_APPROX(clock_drift_r, cap_r->getStateBlock('T')->getState(), 1e-3);
}
}
@@ -230,10 +230,10 @@ TEST(FactorGnssTdcpTest, observe_clock_drift_k)
// fix/unfix
fixAllStates();
- cap_k->getStateBlock("T")->unfix();
+ cap_k->getStateBlock('T')->unfix();
// perturb
- cap_k->getStateBlock("T")->perturb(1e2);
+ cap_k->getStateBlock('T')->perturb(1e2);
// Only 1 factor
fac2->setStatus(FAC_INACTIVE);
@@ -244,7 +244,7 @@ TEST(FactorGnssTdcpTest, observe_clock_drift_k)
std::string report = solver->solve(SolverManager::ReportVerbosity::FULL);
//std::cout << report << std::endl;
- ASSERT_MATRIX_APPROX(clock_drift_k, cap_k->getStateBlock("T")->getState(), 1e-3);
+ ASSERT_MATRIX_APPROX(clock_drift_k, cap_k->getStateBlock('T')->getState(), 1e-3);
}
}
@@ -311,11 +311,11 @@ TEST(FactorGnssTdcpTest, observe_frame_p_clock_k)
// fix/unfix
fixAllStates();
frm_k->getP()->unfix();
- cap_k->getStateBlock("T")->unfix();
+ cap_k->getStateBlock('T')->unfix();
// perturb
frm_k->getP()->perturb(1);
- cap_k->getStateBlock("T")->perturb(1e2);
+ cap_k->getStateBlock('T')->perturb(1e2);
// all 4 factors
@@ -324,7 +324,7 @@ TEST(FactorGnssTdcpTest, observe_frame_p_clock_k)
//std::cout << report << std::endl;
ASSERT_MATRIX_APPROX(frm_k->getP()->getState(), t_map_base_k, 1e-3);
- ASSERT_MATRIX_APPROX(clock_drift_k, cap_k->getStateBlock("T")->getState(), 1e-3);
+ ASSERT_MATRIX_APPROX(clock_drift_k, cap_k->getStateBlock('T')->getState(), 1e-3);
}
}
@@ -339,11 +339,11 @@ TEST(FactorGnssTdcpTest, observe_frame_p_clock_r)
// fix/unfix
fixAllStates();
frm_r->getP()->unfix();
- cap_r->getStateBlock("T")->unfix();
+ cap_r->getStateBlock('T')->unfix();
// perturb
frm_r->getP()->perturb(1);
- cap_r->getStateBlock("T")->perturb(1e2);
+ cap_r->getStateBlock('T')->perturb(1e2);
// all 4 factors
@@ -352,7 +352,7 @@ TEST(FactorGnssTdcpTest, observe_frame_p_clock_r)
//std::cout << report << std::endl;
ASSERT_MATRIX_APPROX(frm_r->getP()->getState(), t_map_base_r, 1e-3);
- ASSERT_MATRIX_APPROX(clock_drift_r, cap_r->getStateBlock("T")->getState(), 1e-3);
+ ASSERT_MATRIX_APPROX(clock_drift_r, cap_r->getStateBlock('T')->getState(), 1e-3);
}
}