diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp
index 5e21843f4a88bbef865b8739deec5111cd12dcd5..65e1d39faca09e52137949cb13c2cbda7781c89c 100644
--- a/src/processor/processor_gnss_fix.cpp
+++ b/src/processor/processor_gnss_fix.cpp
@@ -118,6 +118,7 @@ void ProcessorGnssFix::emplaceFactor(FeatureBasePtr& ftr_ptr)
// ADD CONSTRAINT --------------------
//WOLF_DEBUG("adding the factor...");
+ new_fac_ptr->link(ftr_ptr);
}
bool ProcessorGnssFix::rejectOutlier(FactorBasePtr fac_ptr)
@@ -171,9 +172,9 @@ void ProcessorGnssFix::configure(SensorBasePtr _sensor)
ProcessorBasePtr ProcessorGnssFix::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor_ptr)
{
// ProcessorGnssFixPtr prc_ptr = std::make_shared<ProcessorGnssFix>(std::static_pointer_cast<ProcessorParamsGnssFix>(_params), std::static_pointer_cast<SensorGnss>(sensor_ptr));
- ProcessorGnssFixPtr prc_ptr = std::static_pointer_cast<ProcessorGnssFix>(ProcessorBase::emplace<ProcessorParamsGnssFix>(sensor_ptr,
- std::static_pointer_cast<ProcessorParamsGnssFix>(_params),
- std::static_pointer_cast<SensorGnss>(sensor_ptr)));
+ ProcessorGnssFixPtr prc_ptr = std::static_pointer_cast<ProcessorGnssFix>(ProcessorBase::emplace<ProcessorGnssFix>(sensor_ptr,
+ std::static_pointer_cast<ProcessorParamsGnssFix>(_params),
+ std::static_pointer_cast<SensorGnss>(sensor_ptr)));
prc_ptr->setName(_unique_name);
return prc_ptr;
}
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 923632d408e92c88c5ee7234287a34753b1b7251..726d98fd473241aae6f00b78e2805d252e37a178 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -9,14 +9,14 @@ include_directories(${GTEST_INCLUDE_DIRS})
# #
# Create a specific test executable for gtest_example #
wolf_add_gtest(gtest_example gtest_example.cpp) #
-target_link_libraries(gtest_example ${PROJECT_NAME}) #
+target_link_libraries(gtest_example ${PLUGIN_NAME}) #
# #
###########################################################
# FactorGnssFix2D test
wolf_add_gtest(gtest_factor_gnss_fix_2D gtest_factor_gnss_fix_2D.cpp)
-target_link_libraries(gtest_factor_gnss_fix_2D ${PROJECT_NAME} ${wolf_LIBRARY})
+target_link_libraries(gtest_factor_gnss_fix_2D ${PLUGIN_NAME} ${wolf_LIBRARY})
# FactorGnssSingleDiff2D test
wolf_add_gtest(gtest_factor_gnss_single_diff_2D gtest_factor_gnss_single_diff_2D.cpp)
-target_link_libraries(gtest_factor_gnss_single_diff_2D ${PROJECT_NAME} ${wolf_LIBRARY})
\ No newline at end of file
+target_link_libraries(gtest_factor_gnss_single_diff_2D ${PLUGIN_NAME} ${wolf_LIBRARY})
\ No newline at end of file
diff --git a/test/gtest_factor_gnss_fix_2D.cpp b/test/gtest_factor_gnss_fix_2D.cpp
index 988ed119d7af519118f9fac6fc306c4ea39eee05..be4ec3719e10def890ebeb5b09311eaaded7080e 100644
--- a/test/gtest_factor_gnss_fix_2D.cpp
+++ b/test/gtest_factor_gnss_fix_2D.cpp
@@ -117,7 +117,8 @@ TEST(FactorGnssFix2DTest, configure_tree)
problem_ptr->keyFrameCallback(frame_ptr, nullptr, 1.0);
// Create & process GNSS Fix capture
- CaptureGnssFixPtr cap_gnss_ptr = std::make_shared<CaptureGnssFix>(TimeStamp(0), gnss_sensor_ptr, t_ecef_antena, 1e-3*Matrix3s::Identity());
+ // CaptureGnssFixPtr cap_gnss_ptr = std::make_shared<CaptureGnssFix>(TimeStamp(0), gnss_sensor_ptr, t_ecef_antena, 1e-3*Matrix3s::Identity());
+ CaptureGnssFixPtr cap_gnss_ptr = std::static_pointer_cast<CaptureGnssFix>(CaptureBase::emplace<CaptureGnssFix>(frame_ptr, TimeStamp(0), gnss_sensor_ptr, t_ecef_antena, 1e-3*Matrix3s::Identity()));
gnss_sensor_ptr->process(cap_gnss_ptr);
// Checks
diff --git a/test/gtest_factor_gnss_single_diff_2D.cpp b/test/gtest_factor_gnss_single_diff_2D.cpp
index cabc1f8cb9a3c76a5859b4ff6a31a977fb157cd7..17ee0fc5afae2f63e4aeb081f2f629bcfd6f5c4d 100644
--- a/test/gtest_factor_gnss_single_diff_2D.cpp
+++ b/test/gtest_factor_gnss_single_diff_2D.cpp
@@ -132,7 +132,9 @@ TEST_F(FactorGnssSingleDiff2DTest, check_tree)
TEST_F(FactorGnssSingleDiff2DTest, gnss_1_map_base_position)
{
// Create GNSS Fix capture
- CaptureGnssSingleDiffPtr cap_gnss_ptr = std::make_shared<CaptureGnssSingleDiff>(TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr);
+ // CaptureGnssSingleDiffPtr cap_gnss_ptr = std::make_shared<CaptureGnssSingleDiff>(TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr);
+ CaptureGnssSingleDiffPtr cap_gnss_ptr = std::static_pointer_cast<CaptureGnssSingleDiff>(CaptureBase::emplace<CaptureGnssSingleDiff>(prior_frame_ptr, TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr));
+
gnss_sensor_ptr->process(cap_gnss_ptr);
// fixing things
@@ -166,7 +168,8 @@ TEST_F(FactorGnssSingleDiff2DTest, gnss_1_map_base_position)
TEST_F(FactorGnssSingleDiff2DTest, gnss_1_map_base_orientation)
{
// Create GNSS Fix capture
- CaptureGnssSingleDiffPtr cap_gnss_ptr = std::make_shared<CaptureGnssSingleDiff>(TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr);
+ // CaptureGnssSingleDiffPtr cap_gnss_ptr = std::make_shared<CaptureGnssSingleDiff>(TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr);
+ CaptureGnssSingleDiffPtr cap_gnss_ptr = std::static_pointer_cast<CaptureGnssSingleDiff>(CaptureBase::emplace<CaptureGnssSingleDiff>(prior_frame_ptr, TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr));
gnss_sensor_ptr->process(cap_gnss_ptr);
// fixing things
@@ -196,7 +199,8 @@ TEST_F(FactorGnssSingleDiff2DTest, gnss_1_map_base_orientation)
TEST_F(FactorGnssSingleDiff2DTest, gnss_1_enu_map_yaw)
{
// Create GNSS Fix capture
- CaptureGnssSingleDiffPtr cap_gnss_ptr = std::make_shared<CaptureGnssSingleDiff>(TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr);
+ // CaptureGnssSingleDiffPtr cap_gnss_ptr = std::make_shared<CaptureGnssSingleDiff>(TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr);
+ CaptureGnssSingleDiffPtr cap_gnss_ptr = std::static_pointer_cast<CaptureGnssSingleDiff>(CaptureBase::emplace<CaptureGnssSingleDiff>(prior_frame_ptr, TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr));
gnss_sensor_ptr->process(cap_gnss_ptr);
// unfixing things
@@ -228,7 +232,8 @@ TEST_F(FactorGnssSingleDiff2DTest, gnss_1_enu_map_yaw)
TEST_F(FactorGnssSingleDiff2DTest, gnss_1_base_antena)
{
// Create GNSS Fix capture
- CaptureGnssSingleDiffPtr cap_gnss_ptr = std::make_shared<CaptureGnssSingleDiff>(TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr);
+ // CaptureGnssSingleDiffPtr cap_gnss_ptr = std::make_shared<CaptureGnssSingleDiff>(TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr);
+ CaptureGnssSingleDiffPtr cap_gnss_ptr = std::static_pointer_cast<CaptureGnssSingleDiff>(CaptureBase::emplace<CaptureGnssSingleDiff>(prior_frame_ptr, TimeStamp(1), gnss_sensor_ptr, t_ecef_antena2-t_ecef_antena1, 1e-6*Matrix3s::Identity(), prior_frame_ptr));
gnss_sensor_ptr->process(cap_gnss_ptr);
// unfixing things