Merge branch 'devel' of...

Merge branch 'devel' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/imu into processor_imu2d

src/processor/processor_compass.cpp

@@ -28,7 +28,8 @@ void ProcessorCompass::processCapture(CaptureBasePtr _capture)
     }
     // Otherwise: store capture
     // Note that more than one processor can be emplacing frames, so an older frame can arrive later than this one.
-    buffer_capture_.add(_capture->getTimeStamp(), _capture);
+    else
+        buffer_capture_.add(_capture->getTimeStamp(), _capture);
 }
 
 void ProcessorCompass::processKeyFrame(FrameBasePtr _frame, const double& _time_tolerance)

test/gtest_factor_compass_3d.cpp

@@ -44,9 +44,9 @@ void generateRandomSetup()
 
     // Random states
     frm_p = Vector3d::Random() * 10;
-    frm_q = Quaterniond(Vector4d::Random().normalized());
+    frm_q = Quaterniond::UnitRandom();
     sen_p = Vector3d::Random() * 10;
-    sen_q = Quaterniond(Vector4d::Random().normalized());
+    sen_q = Quaterniond::UnitRandom();
     sen_bias = Vector3d::Random();
     field = Vector3d::Random().normalized() * 50;